TY - GEN
T1 - Robust kinematic control of manipulator robots using dual quaternion representation
AU - Figueredo, L. F.C.
AU - Adorno, B. V.
AU - Ishihara, J. Y.
AU - Borges, G. A.
PY - 2013
Y1 - 2013
N2 - This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H ∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.
AB - This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H ∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.
UR - http://www.scopus.com/inward/record.url?scp=84887311249&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630836
DO - 10.1109/ICRA.2013.6630836
M3 - Conference contribution
AN - SCOPUS:84887311249
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1949
EP - 1955
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -
