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Erschienen in:
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2014 | OriginalPaper | Buchkapitel

8. Dynamics of Vehicle-Manipulator Systems

verfasst von : Pål Johan From, Jan Tommy Gravdahl, Kristin Ytterstad Pettersen

Erschienen in: Vehicle-Manipulator Systems

Verlag: Springer London

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Abstract

This chapter presents the dynamic equations of vehicle-manipulator systems, which is the principal topic of the book. Because the configuration space of the vehicle and the manipulator are different in nature we need to use the well-defined formulation of the state space presented in the previous chapters to obtain a singularity-free set of dynamic equations. The configuration space of the manipulator is Euclidean, so standard formulations of Lagrange’s equations can be used. For the vehicle, however, the configuration space is a manifold, so we need to modify Lagrange’s equations to be valid also on matrix Lie groups, which are in fact manifolds.
This chapter will give the reader a deep understanding of how the underlying configuration spaces affect the modeling of mechanical systems and the reader will be able to derive the dynamics of complex mechanical systems with different configuration spaces, both Euclidean and non-Euclidean. Emphasis is put on obtaining well-defined and singularity-free dynamic equations by using the results from differential geometry and Lie theory presented in the previous chapters.

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Vorheriges Kapitel Dynamics of Manipulators on a Fixed Base
Nächstes Kapitel Properties of the Dynamic Equations in Matrix Form
Literatur
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Fossen, T. I. (2002). Marine control systems. Trondheim: Marine Cybernetics AS. 3rd printing.
From, P. J. (2012a). An explicit formulation of singularity-free dynamic equations of mechanical systems in Lagrangian form—part one: single rigid bodies. Modeling, Identification and Control, 33(2), 45–60. CrossRef
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From, P. J., Pettersen, K. Y., & Gravdahl, J. T. (2011b). Singularity-free formulation of the dynamically equivalent manipulator mapping for space manipulators. In AIAA SPACE, Long Beach, California, USA.
From, P. J., Schjølberg, I., Gravdahl, J. T., Pettersen, K. Y., & Fossen, T. I. (2010c). On the boundedness property of the inertia matrix and skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. In Proceeding of symposium on intelligent autonomous vehicles, Lecce, Italy.
From, P. J., Schjølberg, I., Gravdahl, J. T., Pettersen, K. Y., & Fossen, T. I. (2012b). On the boundedness and skew-symmetric properties of the inertia and Coriolis matrices for vehicle-manipulator systems. Journal of Dynamic Systems, Measurement, and Control, 134(4), 2012.
Liang, B., Xu, Y., & Bergerman, M. (1998). Mapping a space manipulator to a dynamically equivalent manipulator. ASME Journal of Dynamic Systems, Measurement, and Control, 120(1), 1–7. CrossRef
Murray, R. M., Li, Z., & Sastry, S. S. (1994). A mathematical introduction to robotic manipulation. Boca Raton: CRC Press. MATH
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Metadaten
Titel
Dynamics of Vehicle-Manipulator Systems
verfasst von
Pål Johan From
Jan Tommy Gravdahl
Kristin Ytterstad Pettersen
Copyright-Jahr
2014
Verlag
Springer London
Buch
Vehicle-Manipulator Systems

Print ISBN: 978-1-4471-5462-4

Electronic ISBN: 978-1-4471-5463-1

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-1-4471-5463-1_8

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