SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields

Embodied AI and Robotics NCLS RC
2024年06月21日
这篇技术笔记的目的是向机器人学家介绍几何控制器，用于将三维机器人与非恒定三维矢量场对齐。这种对齐涉及控制机器人的三维姿态。我们详细推导了所有分析和实现控制器所需的计算。
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all the calculations needed for the analysis and implementation of the controllers.
许愿