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1 2009

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Reducing the dynamics of a space robot modeled with quaternions

Isenberg D. R., Kakad Y. P.

Systems Science

2009

Vol. 35, no 2

49-57

This paper begins by describing the dynamical modeling of a two-link space manipulator using a constrained Lagrangian approach to mechanics. The dynamics of the space robot are obtained as a system of index-3 differential algebraic equations due to the use of quaternions as rotation operators. These equations are converted into a system of ordinary differential equations. A computed torque technique is utilized, based on the ordinary differential equation model, to reduce the size of the dynamical equations. The limitations of the technique are discussed. Specifically, it is shown that the input forces cannot be completely decoupled. As an example of how the composite system might be used, a proportional-derivative controller is implemented. The current limitations in analysis for this type of system are also described.