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SIMPRA
2010

Singularity-free dynamic equations of vehicle-manipulator systems

9 years 26 days ago
Singularity-free dynamic equations of vehicle-manipulator systems
In this paper we derive the singularity-free dynamic equations of vehiclemanipulator systems using a minimal representation. These systems are normally modeled using Euler angles, which leads to singularities, or Euler parameters, which is not a minimal representation and thus not suited for Lagrange’s equations. We circumvent these issues by introducing quasi-coordinates which allows us to derive the dynamics using minimal and globally valid non-Euclidean configuration coordinates. This is a great advantage as the configuration space of the vehicle in general is non-Euclidean. We thus obtain a computationally efficient and singularity-free formulation of the dynamic equations with the same complexity as the conventional Lagrangian approach. The closed form formulation makes the proposed approach well suited for system analysis and model-based control. This paper focuses on the dynamic properties of vehiclemanipulator systems and we present the explicit matrices needed for impleme...
Pål Johan From, Vincent Duindam, Kristin Ytt
Added 30 Jan 2011
Updated 30 Jan 2011
Type Journal
Year 2010
Where SIMPRA
Authors Pål Johan From, Vincent Duindam, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl, Shankar Sastry
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