Singularity-free dynamic equations of vehicle-manipulator systems

In this paper we derive the singularity-free dynamic equations of vehiclemanipulator systems using a minimal representation. These systems are normally modeled using Euler angles, which leads to singularities, or Euler parameters, which is not a minimal representation and thus not suited for Lagrange’s equations. We circumvent these issues by introducing quasi-coordinates which allows us to derive the dynamics using minimal and globally valid non-Euclidean configuration coordinates. This is a great advantage as the configuration space of the vehicle in general is non-Euclidean. We thus obtain a computationally efficient and singularity-free formulation of the dynamic equations with the same complexity as the conventional Lagrangian approach. The closed form formulation makes the proposed approach well suited for system analysis and model-based control. This paper focuses on the dynamic properties of vehiclemanipulator systems and we present the explicit matrices needed for impleme...

• Type: Journal
• Year: 2010
• Where: SIMPRA
• Authors: Pål Johan From, Vincent Duindam, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl, Shankar Sastry
• Keywords: Dynamic Equations, Minimal Representation, SIMPRA 2010, Vehiclemanipulator Systems