Optimization of holonomic attitude dynamics using IDVD method

摘要

This paper exploits advantages of the differential flatness of rotational dynamics of a three-dimensional holonomic robot, and presents two alternative approaches to invert it. Specifically, it utilizes the inverse dynamics in the virtual domain method, widely used for the translational motion, to develop a simple and yet effective numerical procedure for optimization of attitude dynamics based on the Euler angles or quaternion.