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Free space manipulator on Simulink

Asked by soko loko on 6 Sep 2014
Hi:
I'm trying to simulate a free space manipulator. This manipulator is supposed to be attached to a satellite and be able to translate over the xy plane and rotate on z. So far I have this setup.
The "Body" is the satellite. Here are the questions:
1.- Does the custom joint allow translation or rotation only?
2.- What could be the best method to achieve this objective? If there's any
Thanks in advance.

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