Przemysław Herman
Unconstrained system, manipulators, quasi-velocities, first-order matrix equations
An interpretation of some quasi-velocities called inertial quasivelocities (IQV) is provided in this paper. The IQV are an useful form of the generalized velocity components (GVC) introduced originally by Loduha and Ravani [Transaction of the ASME Journal of Applied Mechanics 62 (1995) 216]. The problem of physical interpretation the IQV and their integrals (quasi-coordinates) is considered too. Moreover, the practical use of the quasi-variables is shown, namely a robust controller expressed in terms of the IQV. The theoretical approach is supported by simulation results on a 3 DOF (degrees of freedom) spatial manipulator.
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