Valverde Alfredo, Tsiotras Panagiotis
Dynamics and Control Systems Laboratory, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA, United States.
Front Robot AI. 2018 Nov 21;5:128. doi: 10.3389/frobt.2018.00128. eCollection 2018.
This paper lays out a framework to model the kinematics and dynamics of a rigid spacecraft-mounted multibody robotic system. The framework is based on dual quaternion algebra, which combines rotational and translational information in a compact representation. Based on a Newton-Euler formulation, the proposed framework sets up a system of equations in which the dual accelerations of each of the bodies and the reaction wrenches at the joints are the unknowns. Five different joint types are considered in this framework via simple changes in certain mapping matrices that correspond to the joint variables. This differs from previous approaches that require the addition of extra terms that are joint-type dependent, and which decouple the rotational and translational dynamics.
本文提出了一个用于对安装在刚性航天器上的多体机器人系统的运动学和动力学进行建模的框架。该框架基于对偶四元数代数，它以紧凑的形式组合了旋转和平移信息。基于牛顿 - 欧拉公式，所提出的框架建立了一个方程组，其中每个物体的对偶加速度和关节处的反作用力矩为未知量。通过对应于关节变量的某些映射矩阵的简单变化，在该框架中考虑了五种不同的关节类型。这与以前的方法不同，以前的方法需要添加依赖于关节类型的额外项，并且会使旋转和平移动力学解耦。
