双四元数代数を用いた移動マニピュレータの動力学
Dynamics of Mobile Manipulators using Dual Quaternion Algebra
双四元数代数に基づく2つの動力学定式化（再帰的ニュートン・オイラー法とガウスの最小拘束原理）を提案し、非ホロノミック移動マニピュレータのモデル化に適用した論文。
著者: Frederico F. A. Silva, Juan J. Quiroz-Omaña, Bruno V. Adorno
分類: cs.RO
原文アブストラクト
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.
