DocumentCode
3028790
Title
Optimization of holonomic attitude dynamics using IDVD method
Author
Yakimenko, Oleg
Author_Institution
Dept. of Mech. & Aerosp. Eng., Naval Postgrad. Sch., Monterey, CA, USA
fYear
2010
fDate
8-10 June 2010
Firstpage
1496
Lastpage
1499
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISSCAA.2010.5632357
Filename
5632357
Link To Document