Singularity-free dynamic equations of vehicle-manipulator systems

Simulation Modelling Practice and Theory

Volumn 18, Issue 6, 2010, Pages 712-731

  From, Pål J ^a   Duindam, Vincent ^b   Pettersen, Kristin Y ^a   Gravdahl, Jan T ^a   Sastry, Shankar ^b  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Quasi coordinates; Robot modeling; Singularities; Vehicle manipulator dynamics

Indexed keywords

CLOSED FORM; COMPUTATIONALLY EFFICIENT; CONFIGURATION COORDINATE; CONFIGURATION SPACE; CONTROL PURPOSE; CORIOLIS; DYNAMIC EQUATIONS; DYNAMIC PROPERTY; EULER ANGLES; EULER PARAMETERS; EXPLICIT EQUATIONS; LAGRANGE'S EQUATION; LAGRANGIAN APPROACHES; MANIPULATOR DYNAMICS; MANIPULATOR SYSTEMS; MATHEMATICAL RELATION; MINIMAL REPRESENTATION; NON-EUCLIDEAN; QUASI-COORDINATES; ROBOT MODELING; SINGULARITY-FREE; SPEED-UPS; SYSTEM ANALYSIS;

CONVOLUTIONAL CODES; EULER EQUATIONS; LAGRANGE MULTIPLIERS; VEHICLES;

MANIPULATORS;

EID: 77950131311     PISSN: 1569190X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.simpat.2010.01.012     Document Type: Article

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