Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

被引：8

作者：

Afonso Silva, Frederico Fernandes ^{[1
]}

Quiroz-Omana, Juan Jose ^{[1
]}

Adorno, Bruno Vilhena ^{[2
]}

机构：

[1] Fed Univ Minas Gerais UFMG, Grad Program Elect Engn, Av Antonio Carlos 6627, BR-31270901 Belo Horizonte, MG, Brazil

[2] Univ Manchester, Dept Elect & Elect Engn, Sackville St, Manchester M13 9PL, Lancs, England

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2022年 / 14卷 / 06期

关键词：

mobile manipulator dynamics; dual Quaternion algebra; Newton-Euler model; Gauss's Principle of Least Constraint; Euler-Lagrange equations; Gibbs-Appell equations; Kane's equations; GIBBS-APPELL; BEGINNERS GUIDE; KANE EQUATIONS; CONSTRAINTS; FORMULATION; MOTION;

D O I：

10.1115/1.4054320

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss's Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs-Appell and Kane's equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton-Euler algorithm.

引用

页数：11