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Dual Quaternion Framework for Modeling of Spacecraft-Mounted Multibody Robotic Systems
This paper lays out a framework to model the kinematics and dynamics of a rigid spacecraft-mounted multibody robotic system. The framework is based on dual quaternion algebra, which combines rotational and translational information in a compact representation. Based on a Newton-Euler formulation, th...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2018
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805728/ https://www.ncbi.nlm.nih.gov/pubmed/33501006 http://dx.doi.org/10.3389/frobt.2018.00128 |