Kinematic and dynamic modeling of spherical joints using exponential coordinates

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Traditional Euler angle-based methods for the kinematic and dynamic modeling of spherical joints involve highly complicated formulas that are numerically sensitive, with complex bookkeeping near local coordinate singularities. In this regard, exponential coordinates are known to possess several advantages over Euler angle representations. This paper presents several new exponential coordinate-based formulas and computational procedures that are particularly useful in the modeling of mechanisms containing spherical joints. Computationally robust procedures are derived for evaluating the forward and inverse formulas for the angular velocity and angular acceleration in terms of exponential coordinates. We show that these formulas simplify the parametrization of joint range limits for spherical joints, and lead to more compact equations in the forward and inverse dynamic analysis of mechanisms containing spherical joints.
Publisher
SAGE PUBLICATIONS LTD
Issue Date
2014-07
Language
English
Article Type
Article
Keywords

HUMAN SHOULDER COMPLEX; ROTATION; FORMULATION; EQUATION; VECTOR

Citation

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v.228, no.10, pp.1777 - 1785

ISSN
0954-4062
URI
http://hdl.handle.net/10203/192651
Appears in Collection
GCT-Journal Papers(저널논문)
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