Wrench Control Based on Dual Quaternion Algebra

Wrench Control Based on Dual Quaternion Algebra. Silva, F. F. A. & Adorno, B. V. In Workshop on Applications of Dual Quaternion Algebra to Robotics, Belo Horizonte, Brasil, 2019.

Paper doi abstract bibtex

This paper proposes a wrench control strategy that takes advantage of the recurrence equations of the dual quaternion Newton-Euler formalism. A simple application for end-effector admittance control is presented to illustrate the proposed method. Simulations on a KUKA LWR robot are performed showing the effectiveness of the proposed method.

@inproceedings{Silva2019,
  title = {Wrench {{Control}} Based on {{Dual Quaternion Algebra}}},
  booktitle = {Workshop on {{Applications}} of {{Dual Quaternion Algebra}} to {{Robotics}}},
  author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  year = {2019},
  address = {Belo Horizonte, Brasil},
  doi = {10.5281/zenodo.3566650},
  copyright = {All rights reserved},
  abstract = {This paper proposes a wrench control strategy that takes advantage of the recurrence equations of the dual quaternion Newton-Euler formalism. A simple application for end-effector admittance control is presented to illustrate the proposed method. Simulations on a KUKA LWR robot are performed showing the effectiveness of the proposed method.},
  url = {https://zenodo.org/records/3566650}
}

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