Title :
Optimization of holonomic attitude dynamics using IDVD method
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Naval Postgrad. Sch., Monterey, CA, USA
Abstract :
This paper exploits advantages of the differential flatness of rotational dynamics of a three-dimensional holonomic robot, and presents two alternative approaches to invert it. Specifically, it utilizes the inverse dynamics in the virtual domain method, widely used for the translational motion, to develop a simple and yet effective numerical procedure for optimization of attitude dynamics based on the Euler angles or quaternion.
Keywords :
attitude control; motion control; optimisation; position control; robot dynamics; robot kinematics; 3D holonomic robot; IDVD method; differential flatness; holonomic attitude dynamics; inverse dynamics in the virtual domain method; optimization; rotational dynamics; translational motion; Aerodynamics; Equations; Optimization; Quaternions; Trajectory; Vehicle dynamics;
Conference_Titel :
Systems and Control in Aeronautics and Astronautics (ISSCAA), 2010 3rd International Symposium on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-6043-4
Electronic_ISBN :
978-1-4244-7505-6
DOI :
10.1109/ISSCAA.2010.5632357
