Recursive computation of mutual potential between two polyhedra |
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| Authors: | Masatoshi Hirabayashi Daniel J Scheeres |
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| Institution: | 1. Aerospace Engineering Sciences, 429 UCB, University of Colorado, Boulder, CO, 80309-5004, USA
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| Abstract: | Recursive computation of mutual potential, force, and torque between two polyhedra is studied. Based on formulations by Werner and Scheeres (Celest Mech Dyn Astron 91:337–349, 2005) and Fahnestock and Scheeres (Celest Mech Dyn Astron 96:317–339, 2006) who applied the Legendre polynomial expansion to gravity interactions and expressed each order term by a shape-dependent part and a shape-independent part, this paper generalizes the computation of each order term, giving recursive relations of the shape-dependent part. To consider the potential, force, and torque, we introduce three tensors. This method is applicable to any multi-body systems. Finally, we implement this recursive computation to simulate the dynamics of a two rigid-body system that consists of two equal-sized parallelepipeds. |
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