### Uittreksel

Taal | Engels |
---|---|

Pagina's | 943-950 |

Tijdschrift | IEEE Robotics and Automation Letters |

Volume | 2 |

Nummer van het tijdschrift | 2 |

DOI's | |

Status | Gepubliceerd - 2017 |

### Vingerafdruk

### Citeer dit

*IEEE Robotics and Automation Letters*,

*2*(2), 943-950. DOI: 10.1109/LRA.2017.2655560

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*IEEE Robotics and Automation Letters*, vol. 2, nr. 2, blz. 943-950. DOI: 10.1109/LRA.2017.2655560

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

Onderzoeksoutput: Bijdrage aan tijdschrift › Tijdschriftartikel › Academic › peer review

TY - JOUR

T1 - On centroidal dynamics and integrability of average angular velocity

AU - Saccon,A.

AU - Traversaro,S.

AU - Nori,Francesco

AU - Nijmeijer,H.

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

U2 - 10.1109/LRA.2017.2655560

DO - 10.1109/LRA.2017.2655560

M3 - Article

VL - 2

SP - 943

EP - 950

JO - IEEE Robotics and Automation Letters

T2 - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 2

ER -