论文标题
使用双四元组代数的移动操纵器动力学
Dynamics of Mobile Manipulators using Dual Quaternion Algebra
论文作者
论文摘要
本文提出了两种使用双四元组代数的移动操纵器动力学方程的方法。第一个是基于一般递归牛顿 - 欧拉尔公式的，并使用扭曲和扳手，这些曲和扳手通过高级代数操作传播，并适用于任何类型的关节和任意参数化。第二种方法基于高斯的原理（GPLC）的原理，并包括任意平等约束。除了显示GPLC与Gibbs-Appell和Kane方程的连接外，我们还使用它来对非实体性移动操纵器进行建模。尽管GPLC在计算上更昂贵，但我们目前的配方比它们的技术状态更一般，并且模拟结果表明它们与经典的递归牛顿 - 欧拉算法一样准确。
This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss's Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs-Appell and Kane's equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton-Euler algorithm.
