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Erschienen in:
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2014 | OriginalPaper | Buchkapitel

9. Properties of the Dynamic Equations in Matrix Form

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

Erschienen in: Vehicle-Manipulator Systems

Verlag: Springer London

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Abstract

When deriving the dynamic equations of mechanical systems it is common to present the equations in matrix form in such a way that the different matrices, in particular the inertia and Coriolis matrices, possess certain properties. These properties are very useful when deriving control laws and in the stability proofs of these. The most important properties in robotics are the boundedness property of the inertia matrix and the skew symmetry property of the Coriolis matrix.
For both these properties vehicle-manipulator systems need to be treated differently from standard fixed-base manipulators or single rigid bodies. This has led to several misconceptions in the robotics literature, because these properties are often taken for granted for vehicle-manipulator systems based on the proofs of other systems. This chapter therefore shows when these properties are in fact true for vehicle-manipulator systems, and for what formulations of the dynamics they are not.

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Vorheriges Kapitel Dynamics of Vehicle-Manipulator Systems
Nächstes Kapitel Underwater Robotic Systems
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Metadaten
Titel
Properties of the Dynamic Equations in Matrix Form
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_9

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