TY - GEN
T1 - A geometric approach for modelling of unfixed-base manipulators
AU - Zhang, Yong An
AU - Zhou, Zhi Gang
AU - Zhou, Di
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - In this article, we establish a coordinate-free description of the kinematic and dynamic models of unfixed-base manipulator by using standard ideas from Lie group and Lie algebra. We use directly the exponential product formula to formulate the kinematic equation of an unfixed-base manipulator. In order to derive the dynamic equation of an unfixed-base manipulator, geometric variations, Riemannian metric, and Christoffel symbol are introduced. And, a concise, closed-form and coordinate-free dynamic equation is given according to the Hamilton's variational principle. This derived model has two characteristics. On one hand, the dynamic model of the fixed-base manipulator is obtained naturally from this dynamic model of the unfixed-base manipulator. On the other hand, it is a control-oriented model and has some important structural properties which may be used to construct the tracking control law.
AB - In this article, we establish a coordinate-free description of the kinematic and dynamic models of unfixed-base manipulator by using standard ideas from Lie group and Lie algebra. We use directly the exponential product formula to formulate the kinematic equation of an unfixed-base manipulator. In order to derive the dynamic equation of an unfixed-base manipulator, geometric variations, Riemannian metric, and Christoffel symbol are introduced. And, a concise, closed-form and coordinate-free dynamic equation is given according to the Hamilton's variational principle. This derived model has two characteristics. On one hand, the dynamic model of the fixed-base manipulator is obtained naturally from this dynamic model of the unfixed-base manipulator. On the other hand, it is a control-oriented model and has some important structural properties which may be used to construct the tracking control law.
UR - https://www.scopus.com/pages/publications/84949927870
U2 - 10.1109/ROBIO.2014.7090722
DO - 10.1109/ROBIO.2014.7090722
M3 - 会议稿件
AN - SCOPUS:84949927870
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 2535
EP - 2540
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -