4.4.4. Control of Motion The equations of motion are similar to those given in section 4.3.2 In the process of integrating equation (4.18) in the presence of constraint equations (4.16) and the characteristics of the shock absorbers (4.17), 60 — 3k equations of type (4.15) are used to find the possible additional points of interaction. When the sixth point of motion of the ring appears, the motion of the two bodies will be unambiguously defined. If at some point of interaction the corresponding point disappears. When the last point of interaction disappears, the motion occurs without constraint only due to the effect of the forces and momenta of the control system, and is described by system of equations (4.18) for. The ring moves due to the effect of the force of shock absorbers, and their motion is described by equations (4.17) with the left sides equal to zero. 4.4.5. Modeling of the Process After Linkage After linkage the connections remain engaged, and the rings of both docking assemblies align; thus, , and consequently, . The angular rotation of the bodies and the motion of the center of mass of body 2 in system of coordinates 1 are given by vectors and the Euler angles and are described by systems of equations (4.18) and (4.3). The force and the momentum of interaction are defined by the characteristics of the shock absorption system using equation (4.17). The momenta
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