Evaluation of rotation formalisms in three dimensions using a Lissajous knot

Author

Pan, H. ; Jones, Bryan A.

Author_Institution

Dept. of Electr. & Comput. Eng., Mississippi State Univ., Starkville, MS, USA

fYear

2014

fDate

11-14 Feb. 2014

Firstpage

1

Lastpage

7

Abstract

An evaluation of three dimensional rotation formalisms using a Lissajous knot is given. The optimal parameterization of SO(3) is determined so that robotics attitude system can become more effective. Given a robot´s local translational velocity and local angular velocity, numerical integrations along a robot´s trajectory using rotation formalisms are performed. Comparing the resulting trajectory with a robot´s true trajectory, this paper considers numerical error, integration time and steps as parameterization methods´ evaluation criteria.

Keywords

angular velocity control; attitude control; autonomous aerial vehicles; integration; optimal control; trajectory control; Lissajous knot; integration time; local angular velocity; numerical error; numerical integrations; optimal parameterization; parameterization method evaluation criteria; robot local translational velocity; robot trajectory; robotics attitude system; three dimensional rotation formalisms evaluation; unmanned aerial vehicle; Robot sensing systems; Vectors; Rodrigues parameters; Rotational kinematics; quaternions; rotation formalisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Multi-Conference on Systems, Signals & Devices (SSD), 2014 11th International

Conference_Location

Barcelona

Type

conf

DOI

10.1109/SSD.2014.6808830

Filename

6808830