Robust kinematic control of manipulator robots using dual quaternion representation

L. F.C. Figueredo; B. V. Adorno; J. Y. Ishihara; G. A. Borges

doi:10.1109/ICRA.2013.6630836

Robust kinematic control of manipulator robots using dual quaternion representation

L. F.C. Figueredo
, B. V. Adorno
, J. Y. Ishihara
, G. A. Borges

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

48 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	1949-1955
Number of pages	7
DOIs	https://doi.org/10.1109/ICRA.2013.6630836
State	Published - 2013
Externally published	Yes
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ICRA.2013.6630836

Cite this

Figueredo, L. F. C., Adorno, B. V., Ishihara, J. Y., & Borges, G. A. (2013). Robust kinematic control of manipulator robots using dual quaternion representation. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 1949-1955). Article 6630836 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6630836

@inproceedings{9a179fecd88e4f6f878e6b031bc157e3,

title = "Robust kinematic control of manipulator robots using dual quaternion representation",

abstract = "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.",

author = "Figueredo, \{L. F.C.\} and Adorno, \{B. V.\} and Ishihara, \{J. Y.\} and Borges, \{G. A.\}",

year = "2013",

doi = "10.1109/ICRA.2013.6630836",

language = "English",

isbn = "9781467356411",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "1949--1955",

booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

}

Figueredo, LFC, Adorno, BV, Ishihara, JY & Borges, GA 2013, Robust kinematic control of manipulator robots using dual quaternion representation. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6630836, Proceedings - IEEE International Conference on Robotics and Automation, pp. 1949-1955, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6630836

Robust kinematic control of manipulator robots using dual quaternion representation. / Figueredo, L. F.C.; Adorno, B. V.; Ishihara, J. Y. et al.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 1949-1955 6630836 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Adorno, B. V.

AU - Ishihara, J. Y.

AU - Borges, G. A.

PY - 2013

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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.

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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 -

Robust kinematic control of manipulator robots using dual quaternion representation

Abstract

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