Related papers: Using Lie derivatives with dual quaternions for pa…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
Dual quaternions have gained significant attention due to their wide applications in areas such as multi-agent formation control, 3D motion modeling, and robotics. A fundamental aspect in dual quaternion research involves the projection…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
Using a left multiplication defined on a right quaternionic Hilbert space, linear self-adjoint momentum operators on a right quaternionic Hilbert space are defined in complete analogy with their complex counterpart. With the aid of the…
This paper revisits the topic of rotation estimation through the lens of special unitary matrices. We begin by reformulating Wahba's problem using $SU(2)$ to derive multiple solutions that yield linear constraints on corresponding…
This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the limitations of the state-of-the-art model-based wrench…
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required…
Theory of differential operators on associative algebras is not extended to the non-associative ones in a straightforward way. We consider differential operators on Lie algebras. A key point is that multiplication in a Lie algebra is its…
A basic theory on the first order right and left linear quaternion differential systems (LQDS) is given systematic in this paper. To proceed the theory of LQDS we adopt the theory of column-row determinants recently introduced by the…
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string routing, a methodical Lie group formulation for the shape…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
This paper proposes a novel modelling approach for a heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered parallel$-$serial structure contains a revolute segment with rigid links connected by a…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
A lattice derivative is defined as a discrete Fourier transform of momentum on a finite lattice. Species doublers are removed with anti-periodic boundary conditions. U(1) chiral transformation is modified to reproduce chiral anomaly. Chiral…
Euler angle representation in biomechanical analysis allows straightforward description of joints rotations. However, application of Euler angles could be limited due to singularity called gimbal lock. Quaternions offer an alternative way…
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and…
During the process of teaching the concept of derivative, it is common and natural to refer to geometric interpretations, such as the use of the tangent line and the maximum and minimum points of a function, to illustrate the scope of the…
Handling orientations of robots and objects is a crucial aspect of many applications. Yet, ever so often, there is a lack of mathematical correctness when dealing with orientations, especially in learning pipelines involving, for example,…
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…