Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators


In this paper, a task-dependent energetic analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energy consumption of a robotic manipulator to its inertia ellipsoid. To validate the method, the dynamic and electro-mechanic models of a three degrees-of-freedom (3-DOF) SCARA robot are implemented and the influence of the location of a predefined point-to-point task (such as a pick-and-place operation) within the robot workspace is considered. The task-dependent analysis provides energy consumption maps that are compared with the prediction of the theoretical formulation based on the proposed trajectory energy index (TEI), which can be used to optimally locate the task to obtain minimal energy consumption without having to compute it through extensive dynamic simulations. Results show the effectiveness of the method and the good agreement between the TEI and the effective energy consumption within the whole workspace of the robot for several trajectories.
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