Dynamic modeling of robotic systems : a dual quaternion formulation
Autor(a) principal: | |
---|---|
Data de Publicação: | 2022 |
Tipo de documento: | Tese |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFMG |
Texto Completo: | http://hdl.handle.net/1843/46591 |
Resumo: | This thesis proposes a technique for the dynamic modeling of serial and branched robots using dual quaternion algebra. The modeling accounts for all lower-pair kinematic joints and six-degree-of-freedom joints, and the framework enables the systematic modular composition of dynamic models comprising several subsystems, each, in turn, composed of multiple rigid bodies. The proposed strategy is applicable even if some subsystems are regarded as black boxes, requiring only the twists and wrenches at the connection points between different subsystems. To help in the model composition, a unified graph representation that encodes the propagation of twists and wrenches between the subsystems is also proposed. The joint wrenches result from the calculation of the interconnection matrix of the graph, making the modeling procedure straightforward. The framework was validated using serial manipulators of 6-DoF and 50-DoF, a 9-DoF holonomic mobile manipulator, and a 38-DoF branched robot composed of 9 subsystems. The results were compared with Peter Corke's Robotics Toolbox, Roy Featherstone's Spatial V2, and the robot simulator V-REP/CoppeliaSim, demonstrating that the proposed formalism is as accurate as state-of-the-art libraries. |
id |
UFMG_c198c91f255100bc4d6952b9d6034b01 |
---|---|
oai_identifier_str |
oai:repositorio.ufmg.br:1843/46591 |
network_acronym_str |
UFMG |
network_name_str |
Repositório Institucional da UFMG |
repository_id_str |
|
spelling |
Bruno Vilhena Adornohttp://lattes.cnpq.br/3363634987221133Edson Roberto De PieriJoão Yoshiyuki IshiharaLeonardo Antônio Borges TôrresGuilherme Vianna RaffoBruno Vilhena Adornohttp://lattes.cnpq.br/6518919813741344Frederico Fernandes Afonso Silva2022-10-25T15:49:29Z2022-10-25T15:49:29Z2022-06-16http://hdl.handle.net/1843/465910000-0003-2130-3636This thesis proposes a technique for the dynamic modeling of serial and branched robots using dual quaternion algebra. The modeling accounts for all lower-pair kinematic joints and six-degree-of-freedom joints, and the framework enables the systematic modular composition of dynamic models comprising several subsystems, each, in turn, composed of multiple rigid bodies. The proposed strategy is applicable even if some subsystems are regarded as black boxes, requiring only the twists and wrenches at the connection points between different subsystems. To help in the model composition, a unified graph representation that encodes the propagation of twists and wrenches between the subsystems is also proposed. The joint wrenches result from the calculation of the interconnection matrix of the graph, making the modeling procedure straightforward. The framework was validated using serial manipulators of 6-DoF and 50-DoF, a 9-DoF holonomic mobile manipulator, and a 38-DoF branched robot composed of 9 subsystems. The results were compared with Peter Corke's Robotics Toolbox, Roy Featherstone's Spatial V2, and the robot simulator V-REP/CoppeliaSim, demonstrating that the proposed formalism is as accurate as state-of-the-art libraries.Essa tese propõe uma técnica para a modelagem dinâmica de robôs seriais e ramificados utilizando álgebra de quatérnios duais. O modelo considera tanto todas as juntas do tipo lower-pair kinematic quanto juntas de seis graus de liberdade e, adicionalmente, o procedimento permite a composição modular sistemática de modelos dinâmicos compostos de múltiplos subsistemas, cada um deles, por sua vez, composto de diversos corpos rígidos. A estratégia proposta é aplicável ainda que alguns subsistemas se comportem como caixas pretas, exigindo apenas os heligiros e as heliforças do ponto de conexão entre eles. Para auxiliar na composição de modelos, é também proposta uma representação em grafos que codifica a propagação de heligiros e heliforças dentre os subsistemas. As heliforças das juntas são resultado do cálculo da matriz de interconexão do grafo, tornando intuitivo o procedimento de modelagem. O formalismo proposto foi validado utilizando manipuladores robóticos de 6-DoF e 50-DoF, um manipulador móvel de base holonômica de 9-DoF e um robô ramificado de 38-DoF, composto de 9 subsistemas. Os resultados foram comparados com as bibliotecas Robotics Toolbox, desenvolvida pelo Peter Corke, e Spatial V2, desenvolvida pelo Roy Featherstone, além do simulador V-REP/CoppeliaSim, demonstrando que o método proposto é tão preciso quanto as bibliotecas do estado da arte.CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível SuperiorengUniversidade Federal de Minas GeraisPrograma de Pós-Graduação em Engenharia ElétricaUFMGBrasilENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICAEngenharia elétricaQuatérniosRobóticaTeoria dos grafosDynamic modeling of robotsNewton-Euler formalismModular compositionTopological graphDual quaternionsDynamic modeling of robotic systems : a dual quaternion formulationModelagem dinâmica de sistemas robóticos : uma formulação utilizando quatérnios duaisinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFMGinstname:Universidade Federal de Minas Gerais (UFMG)instacron:UFMGORIGINALphd_thesis_frederico_afonso_for_library.pdfphd_thesis_frederico_afonso_for_library.pdfPh.D. Thesis (Frederico Fernandes Afonso Silva)application/pdf20545809https://repositorio.ufmg.br/bitstream/1843/46591/3/phd_thesis_frederico_afonso_for_library.pdf8d533fdec052c91a5bb17c68b143b9faMD53LICENSElicense.txtlicense.txttext/plain; charset=utf-82118https://repositorio.ufmg.br/bitstream/1843/46591/4/license.txtcda590c95a0b51b4d15f60c9642ca272MD541843/465912022-10-25 12:49:29.772oai:repositorio.ufmg.br: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ório de PublicaçõesPUBhttps://repositorio.ufmg.br/oaiopendoar:2022-10-25T15:49:29Repositório Institucional da UFMG - Universidade Federal de Minas Gerais (UFMG)false |
dc.title.pt_BR.fl_str_mv |
Dynamic modeling of robotic systems : a dual quaternion formulation |
dc.title.alternative.pt_BR.fl_str_mv |
Modelagem dinâmica de sistemas robóticos : uma formulação utilizando quatérnios duais |
title |
Dynamic modeling of robotic systems : a dual quaternion formulation |
spellingShingle |
Dynamic modeling of robotic systems : a dual quaternion formulation Frederico Fernandes Afonso Silva Dynamic modeling of robots Newton-Euler formalism Modular composition Topological graph Dual quaternions Engenharia elétrica Quatérnios Robótica Teoria dos grafos |
title_short |
Dynamic modeling of robotic systems : a dual quaternion formulation |
title_full |
Dynamic modeling of robotic systems : a dual quaternion formulation |
title_fullStr |
Dynamic modeling of robotic systems : a dual quaternion formulation |
title_full_unstemmed |
Dynamic modeling of robotic systems : a dual quaternion formulation |
title_sort |
Dynamic modeling of robotic systems : a dual quaternion formulation |
author |
Frederico Fernandes Afonso Silva |
author_facet |
Frederico Fernandes Afonso Silva |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Bruno Vilhena Adorno |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/3363634987221133 |
dc.contributor.referee1.fl_str_mv |
Edson Roberto De Pieri |
dc.contributor.referee2.fl_str_mv |
João Yoshiyuki Ishihara |
dc.contributor.referee3.fl_str_mv |
Leonardo Antônio Borges Tôrres |
dc.contributor.referee4.fl_str_mv |
Guilherme Vianna Raffo |
dc.contributor.referee5.fl_str_mv |
Bruno Vilhena Adorno |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/6518919813741344 |
dc.contributor.author.fl_str_mv |
Frederico Fernandes Afonso Silva |
contributor_str_mv |
Bruno Vilhena Adorno Edson Roberto De Pieri João Yoshiyuki Ishihara Leonardo Antônio Borges Tôrres Guilherme Vianna Raffo Bruno Vilhena Adorno |
dc.subject.por.fl_str_mv |
Dynamic modeling of robots Newton-Euler formalism Modular composition Topological graph Dual quaternions |
topic |
Dynamic modeling of robots Newton-Euler formalism Modular composition Topological graph Dual quaternions Engenharia elétrica Quatérnios Robótica Teoria dos grafos |
dc.subject.other.pt_BR.fl_str_mv |
Engenharia elétrica Quatérnios Robótica Teoria dos grafos |
description |
This thesis proposes a technique for the dynamic modeling of serial and branched robots using dual quaternion algebra. The modeling accounts for all lower-pair kinematic joints and six-degree-of-freedom joints, and the framework enables the systematic modular composition of dynamic models comprising several subsystems, each, in turn, composed of multiple rigid bodies. The proposed strategy is applicable even if some subsystems are regarded as black boxes, requiring only the twists and wrenches at the connection points between different subsystems. To help in the model composition, a unified graph representation that encodes the propagation of twists and wrenches between the subsystems is also proposed. The joint wrenches result from the calculation of the interconnection matrix of the graph, making the modeling procedure straightforward. The framework was validated using serial manipulators of 6-DoF and 50-DoF, a 9-DoF holonomic mobile manipulator, and a 38-DoF branched robot composed of 9 subsystems. The results were compared with Peter Corke's Robotics Toolbox, Roy Featherstone's Spatial V2, and the robot simulator V-REP/CoppeliaSim, demonstrating that the proposed formalism is as accurate as state-of-the-art libraries. |
publishDate |
2022 |
dc.date.accessioned.fl_str_mv |
2022-10-25T15:49:29Z |
dc.date.available.fl_str_mv |
2022-10-25T15:49:29Z |
dc.date.issued.fl_str_mv |
2022-06-16 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/doctoralThesis |
format |
doctoralThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1843/46591 |
dc.identifier.orcid.pt_BR.fl_str_mv |
0000-0003-2130-3636 |
url |
http://hdl.handle.net/1843/46591 |
identifier_str_mv |
0000-0003-2130-3636 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal de Minas Gerais |
dc.publisher.program.fl_str_mv |
Programa de Pós-Graduação em Engenharia Elétrica |
dc.publisher.initials.fl_str_mv |
UFMG |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
ENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA |
publisher.none.fl_str_mv |
Universidade Federal de Minas Gerais |
dc.source.none.fl_str_mv |
reponame:Repositório Institucional da UFMG instname:Universidade Federal de Minas Gerais (UFMG) instacron:UFMG |
instname_str |
Universidade Federal de Minas Gerais (UFMG) |
instacron_str |
UFMG |
institution |
UFMG |
reponame_str |
Repositório Institucional da UFMG |
collection |
Repositório Institucional da UFMG |
bitstream.url.fl_str_mv |
https://repositorio.ufmg.br/bitstream/1843/46591/3/phd_thesis_frederico_afonso_for_library.pdf https://repositorio.ufmg.br/bitstream/1843/46591/4/license.txt |
bitstream.checksum.fl_str_mv |
8d533fdec052c91a5bb17c68b143b9fa cda590c95a0b51b4d15f60c9642ca272 |
bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 |
repository.name.fl_str_mv |
Repositório Institucional da UFMG - Universidade Federal de Minas Gerais (UFMG) |
repository.mail.fl_str_mv |
|
_version_ |
1801676630149562368 |