Robust kinematic control of manipulator robots using dual quaternion representation. Figueredo, L., Adorno, B., Ishihara, J., & Borges, G. In 2013 IEEE International Conference on Robotics and Automation, pages 1949–1955, may, 2013. IEEE.
Robust kinematic control of manipulator robots using dual quaternion representation [link]Paper  doi  abstract   bibtex   
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.
@InProceedings{Figueredo2013,
  author        = {Figueredo, L.F.C. and Adorno, B.V. and Ishihara, J.Y. and Borges, G.a.},
  title         = {{Robust kinematic control of manipulator robots using dual quaternion representation}},
  booktitle     = {2013 IEEE International Conference on Robotics and Automation},
  year          = {2013},
  pages         = {1949--1955},
  month         = {may},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  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.},
  doi           = {10.1109/ICRA.2013.6630836},
  isbn          = {978-1-4673-5643-5},
  issn          = {10504729},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6630836 http://ieeexplore.ieee.org/document/6630836/},
}
Downloads: 0