Rapid maneuvering of multi-body dynamic systems with optimal motion compensation

Bishop, B.E.; Gargano, Richard; Sears, A.; Karpenko, Mark

doi:10.1016/j.actaastro.2015.07.035

Cited by 4 publications

(1 citation statement)

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“…Furthermore, he provides a formulation for the case in which the joints are not given by a simple primitive (revolute or prismatic), such as is the case of a gimbaled joint. Bishop et al ( 2014 ) used this method for path planning and control during rapid maneuvering of a robotic arm mounted on a spacecraft. Stoneking ( 2013 ) also proposed an approach based on Kane's equations of motion, in which the generalized coordinates appear as part of a minimal representation.…”

Section: Introductionmentioning

confidence: 99%

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

Valverde

Tsiotras

2018

Front. Robot. AI

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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.

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Section: Introductionmentioning

confidence: 99%