Solutions for the Integration of Angular Velocites and Rotations

Betreuer:
Heiko Donat

In contrast to rigid robots, mechanical models of continuum robots have to consider stress and strain of the robot's links.
In recent years, Cosserat rod theory has become a popular method to obtain general mechanical models for continuum robots.
Hereby, the robot's kinematics and dynamics are described by a system of differential equations. To find a solution, numerical integration is applied.
However, explicit numerical integration methods do not preserve the structure of SO(3), given certain representations of attitude.
In this seminar thesis, solutions to this problem shall be presented based on the given literature.

Literature:

Further additional literature: