Dual Quaternion Framework for Modeling of Spacecraft-Mounted Multibody Robotic Systems

Valverde, Alfredo; Tsiotras, Panagiotis

doi:10.3389/frobt.2018.00128

Cited by 20 publications

(22 citation statements)

References 41 publications

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“…= tr (31) such that the proposed Gaussian on T 2 SE(3) becomes in the form of Equation (30). 3) is any element of that bundle such that satisfies the constraint equation in Equation (27).…”

Section: 11mentioning

confidence: 99%

“…A treatment of quaternions within U-K formulation was developed for control torque determination [27]. In order to account for translational and rotational couplings, dual quaternions have been used for constrained motion analyses and optimization problems of multibody dynamical systems [30]. However, quaternions and dual quaternions suffer from the unwinding issue [4,11] that contributes to an inability to differentiate quaternion representations.…”

Section: Introductionmentioning

confidence: 99%

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Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles

McCann¹,

Nazari²

2022

JGM

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<p style='text-indent:20px;'>Presented herein are a class of methodologies for conducting constrained motion analysis of rigid bodies within the Udwadia-Kalaba (U-K) formulation. The U-K formulation, primarily devised for systems of particles, is advanced to rigid body dynamics in the geometric mechanics framework and a novel development of U-K formulation for use on nonlinear manifolds, namely the special Euclidean group <inline-formula><tex-math id="M1">\begin{document}$ {\mathsf{SE}(3)}$\end{document}</tex-math></inline-formula> and its second order tangent bundle <inline-formula><tex-math id="M2">\begin{document}${\mathsf{T}^2\mathsf{SE}(3)} $\end{document}</tex-math></inline-formula>, is proposed in addition to the formulation development on Euclidean spaces. Then, a Morse-Lyapunov based tracking controller using backstepping is applied to capture disturbed initial conditions that the U-K formulation cannot account for. This theoretical development is then applied to fully-constrained and underconstrained scenarios of rigid-body spacecraft motion in a lunar orbit, and the translational and rotational motions of the spacecraft and the control inputs obtained using the proposed methodologies to achieve and maintain those constrained motions are studied.</p>

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“…= tr (31) such that the proposed Gaussian on T 2 SE(3) becomes in the form of Equation (30). 3) is any element of that bundle such that satisfies the constraint equation in Equation (27).…”

Section: 11mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles

McCann¹,

Nazari²

2022

JGM

View full text Add to dashboard Cite

show abstract

“…Besides, for the convenience of the reader, this table also illustrates some basic algebraic rules on dual quaternions. More details and applications can be found in [31,35,36].…”

Section: Dual Quaternionsmentioning

confidence: 99%

Rotation–translation coupling analysis on perturbed spacecraft relative translational motion

et al. 2020

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This paper explores an accurate and complete spacecraft six-degrees-of-freedom coupled relative motion model using the dual quaternion representation. Based on this technique, we build a scheme capable of describing both kinematic and dynamic coupling effects on the spacecraft relative translational motion through a further combination with the chaser's precise absolute translational and rotational dynamics. This new model generalizes the existing nonlinear spacecraft relative translational model to include both the kinematic coupling effect due to the displacements of selected feature points relative to the spacecraft centers of mass and the dynamic coupling effect induced by the gravity gradient torque and the orbital perturbations. Several numerical simulations are implemented to validate the

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“…Space manipulator systems, of the kinds used in space missions, have attracted much attention due to their high performance in active debris removal (Shan et al, 2016 ) and on-orbit servicing (Flores-Abad et al, 2014 ) in recent years. Over the past decades, a succession of technological advances has been made in both hardware device designs (Yoshida, 2009 ; Jaekel et al, 2018 ) and software algorithm developments (Nanos and Papadopoulos, 2017 ; Valverde and Tsiotras, 2018 ; Virgili-Llop and Romano, 2019 ; Liu et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

Wei

Liang

et al. 2021

Front. Robot. AI

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Space manipulators have attracted much attention due to their implications in on-orbit servicing in recent years. Air bearing based support equipment is widely used for ground test to offset the effect of gravity. However, an air bearing support introduces a new problem caused by additional inertial and mass properties. Additional mass and inertial load will influence the dynamics behavior, especially stiffness information and vibration response of the whole ground test system. In this paper, a set of procedures are presented to remove the influence of air bearings and identify the true equivalent joint stiffness and damping from the test data of a motor-braked space manipulator with an air bearing support. First, inertia parameters are identified. Then, the equivalent joint stiffness and damping are determined by using a genetic algorithm (GA) method. Finally, true vibration characteristics of the manipulator are estimated by removing the additional inertia caused by the air bearings. Moreover, simulations and experiments are carried out to validate the presented procedures.

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Dual Quaternion Framework for Modeling of Spacecraft-Mounted Multibody Robotic Systems

Cited by 20 publications

References 41 publications

Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles

Control and maintenance of fully-constrained and underconstrained rigid body motion on Lie groups and their tangent bundles

Rotation–translation coupling analysis on perturbed spacecraft relative translational motion

Estimation of Vibration Characteristics of a Space Manipulator From Air Bearing Supported Test Data

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