ИСТИНА

Motion of a pendulum tethered via a tether to a rotating asteroid of arbitrary shape is considered. Equations of motion are obtained, conditions for the tether to be stretched are investigated. The constraint releasing processes, as well as constrained activations, are also considered. The computer model for dynamics of the tethered space system (TSS) is built considering the mechanical system subject to an unilateral constraint. The model is constructed as a hybrid automata. The corresponding state variables are described as Real type, that provides a possibility to efficiently developed numerical model for transfers from constrained state of mechanical system to its unconstrained state and back.