拉格朗日动力学方程的对偶四元数表示

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-05-03 DOI:10.1115/1.4062463

A. Cohen, Benjamin Taub, M. Shoham

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引用次数: 0

摘要

文摘：本文首次引入了对偶数四元数形式的拉格朗日动力学方程。此外，本文还引入了对偶四元数格式的瑞利耗散函数，考虑了耗散（非保守）力，如通过粘性流体的运动、摩擦和弹簧阻尼力。以对偶四元数为例，推导了机器人机械手的拉格朗日动力学方程。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dual Quaternions Representation of Lagrange's dynamic equations

Abstract' This paper introduces for the first time, the Lagrange's dynamic equations in dual number quaternion form. Additionally, Rayleigh's dissipation function in dual quaternion form is introduced here allowing for the accounting of dissipative (non-conservative) forces such as motion through a viscous fluid, friction, and spring damping force. As an example, dual quaternions are used here to derive the Lagrange dynamic equations of a robot manipulator.

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.