Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra

被引：1
|
作者：
Carbajal-Espinosa, O. [1 ]
Gonzalez-Jimenez, L. [2 ]
Loukianov, A. [1 ]
Bayro-Corrochano, E. [1 ]
机构：
[1] CINVESTAV, Dept Elect Engn & Comp Sci, Unidad Guadalajara, Mexico City, DF, Mexico
[2] ITESO, Dept Elect Syst & Informat, Tlaquepaque, Mexico
来源：
COMPUTATIONAL KINEMATICS (CK2013) | 2014年 / 15卷
关键词：
Kinematics modeling; Dynamic modeling; Super twisting algorithm; Conformal geometric algebra; Humanoid manipulator;
D O I：
10.1007/978-94-007-7214-4_29
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The pose tracking problem for the 5 DOF (degrees of freedom) arm of a humanoid robot is studied. The kinematic and dynamic models of the manipulator are obtained using the conformal geometric algebra framework. Then, using the obtained models, the well known super-twisting algorithm, is used to design a controller in terms of the conformal geometric algebra for the pose tracking problem. Simulation shows the performance of the proposed controller with the conformal models for the tracking an object.
引用
收藏
页码：261 / 269
页数：9
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