Optimization of Holonomic Attitude Dynamics using IDVD Method

摘要：

This paper exploits advantages of the differential flatness of rotational dynamics of a three-dimensional holonomic robot, and presents two alternative approaches to invert it. Specifically, it utilizes the inverse dynamics in the virtual domain method, widely used for the translational motion, to develop a simple and yet effective numerical procedure for optimization of attitude dynamics based on the Euler angles or quaternion.

作者: Oleg Yakimenko

作者单位: Department of Mechanical and Aerospace Engineering of the Naval Postgraduate School,Monterey,CA,93943-5107

会议类型: 国际会议

会议名称: The 3rd International Symposium on Systems and Control in Aeronautics and Astronautics(第三届航空航天系统与控制国际会议 ISSCAA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1483-1486

在线出版日期: 2010-01-08（万方平台首次上网日期，不代表论文的发表时间）