By Topic

Input and output transformations for a space robot modeled with quaternions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Douglas R. Isenberg ; Department of Electrical and Computer Engineering, University of North Carolina at Charlotte, 9201 University City Blvd., 28223, U.S.A. ; Y. P. Kakad

This paper describes a procedure for obtaining the dynamical model of a space robot in a form that is useful for simulation. The differential equations of motion of the space robot are derived using a constrained Lagrangian approach to mechanics. Quaternions are utilized to model rotation which gives rise to generalized forces that are in the direction of the quaternion elements. A transformation is presented which transforms realizable torques into these abstract forces. The form of a complete model with both realizable inputs and measurable outputs is described.

Published in:

2009 41st Southeastern Symposium on System Theory

Date of Conference:

15-17 March 2009