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Input and output transformations for a space robot modeled with quaternions

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2 Author(s)
Isenberg, D.R. ; Dept. of Electr. & Comput. Eng., Univ. of North Carolina at Charlotte, Charlotte, NC ; Kakad, Y.P.

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:

System Theory, 2009. SSST 2009. 41st Southeastern Symposium on

Date of Conference:

15-17 March 2009