Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6867798 | Robotics and Computer-Integrated Manufacturing | 2018 | 11 Pages |
Abstract
This paper proposes an easy-to-implement set-point control of robot end-effector pose using dual quaternion representation. A dual quaternion error invariant to the choice of the reference coordinate system is defined and the stability of two different kinds of controllers, one based on a constrained-Jacobian transpose and the other on a constrained-Jacobian pseudoinverse, both derived in dual quaternion space, is proved using Lyapunov theory. In addition, this paper describes a simple method to tune the proposed controllers from a practical and pragmatic point of view. Experiments with a 6-axis industrial robot are shown in order to highlight the efficiency of the method and the performance of the developed controllers.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
H.L. Pham, B.V. Adorno, V. Perdereau, P. Fraisse,