Robotic arm module

[amDev20]

Hello,
Taking into account the dynamics modules, I was wondering if it is possible to model a robotic arm that is attached to a spacecraft body. If this module has not been implemented yet, would it be possible to model it as a combination of spacecraftSystem or hingedRigidBodies modules?
I am open for any ideas / approach on how to model a robotic arm in Basilisk or similar use cases implemented by the community.

Thank you!

[joaogvcarneiro]

Hey @amDev20, what type of robotic arm do you want to simulate? We have an upcoming spinningBodiesNDOF module that can simulate an N-degree-of-freedom robotic arm, assuming that each link is connected through rotating joints, i.e., it doesn't telescope out.

[amDev20]

Hi @joaogvcarneiro, thanks for your reply! The spinningBodiesNDOF indeed seems to be the module I am looking for. It is required that the robotic arm has multiple revolute joints, i.e. linear motion is not necessary. From this, two requirements can be concluded: First, each revolute joint should enable the application of torque and monitoring of states, such as angle and angular velocity. Second, the combined motion / interaction of the spacecraft body and the robotic arm is of interest.
Any idea when the upcoming module is planned for release?

Thank you!

[joaogvcarneiro]

The module will do exactly what you mentioned. We're aiming to have the module merged on the develop in the next month.

[amDev20]

Hi @joaogvcarneiro, are there any updates regarding the development of the spinningBodiesNDOF module?

Thank you!

[joaogvcarneiro]

Hey @amDev20, the module is currently under review and should be ready to be merged on develop very soon.