On centroidal dynamics and integrability of average angular velocity

A. Saccon, S. Traversaro, Francesco Nori, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

2 Citaties (Scopus)

Uittreksel

In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation framethat depends only on the current robot configuration and provide a simple algebraic condition to check whether this holds. In the language of geometric mechanics, this condition corresponds to requiring the flatness of the mechanical connection associated to the robotic system. Here, however, we provide both a reinterpretation and a proof of this result accessible to readers with a background in rigid body kinematics and multibody dynamics but not necessarily acquainted with differential geometry, still providing precise links to the geometric mechanics literature. This should help spreading the algebraic condition beyond the scope of geometric mechanics,contributing to a proper utilization and understanding of the concept of average angular velocity.
TaalEngels
Pagina's943-950
TijdschriftIEEE Robotics and Automation Letters
Volume2
Nummer van het tijdschrift2
DOI's
StatusGepubliceerd - 2017

Vingerafdruk

Angular velocity
Mechanics
Robotics
Kinematics
Robots
Geometry

Citeer dit

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On centroidal dynamics and integrability of average angular velocity. / Saccon, A.; Traversaro, S.; Nori, Francesco; Nijmeijer, H.

In: IEEE Robotics and Automation Letters, Vol. 2, Nr. 2, 2017, blz. 943-950.

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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