Modeling of Spacecraft-Mounted Robot Dynamics and Control Using Dual Quaternions

被引：0

作者：

Valverde, Alfredo ^{[1
]}

Tsiotras, Panagiotis ^{[1
,2
]}

机构：

[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA

[2] Georgia Inst Technol, Coll Engn, Atlanta, GA 30332 USA

来源：

2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | 2018年

基金：

美国国家航空航天局;

关键词：

MANIPULATORS; KINEMATICS; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Dual quaternions (DQ) provide a compact representation of position and attitude. They have been extensively used in fixed-base robotics due to their numerous computational advantages. This paper aims to develop the dynamic equations of motion of a robotic arm on a free-flying spacecraft using a Newton-Euler approach in a DQ modeling framework. A pose-stabilization maneuver for the end-effector is found via Differential Dynamic Programming (DDP). The results of this simulation are provided.

引用

页码：670 / 675

页数：6

共 24 条

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