Modeling and Simulation of Space Manipulator Based on Lie Group

The problem of modeling based on Lie group is studied for space manipulator system with characteristics of nonlinear and strong coupling. By introducing the corresponding relation between rigid body motion and SE(3) and the exponential product method, a recursive model and its matrix representation based on Lie group is obtained through forward and backward recursive process, which has advantages of less calculation amount, unified form of models and definite physical meaning. Comparing the simulation result under the same condition between Lie group model and classical model, a high similarity was presented, proving the validity of Lie group method.