A new method of model order reduction for impact-contact dynamics simulation of space robotic manipulator was proposed.The impact-contact dynamics model of space robotic manipulator was constructed through the rigid body approximation method and Herz impact-contact force model.The corresponding state space equation of the space robotic manipulator was obtained by the linearization to the impact-contact dynamics model at the reference point.Then the eigenvalues of this linearized state space equation were solved to deal with the model order reduction of the system in which the eigenvalues with larger negative real part were disregarded because these eigenvalues usually represent the rapidly decayed modal responses with high frequencies.An example of 3-DOF planar robotic manipulator conducting contact manipulation was presented to verify the feasibility and efficiency of the proposed model order reduction method.
