Kinematic Control of Serial Manipulators Using Clifford Algebra

被引：3

作者：

Shahidi, A. ^{[1
]}

Huesing, M. ^{[1
]}

Corves, B. ^{[1
]}

机构：

[1] Rhein Westfal TH Aachen, Inst Mech Theory Machine Dynam & Robot, D-52072 Aachen, Germany

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Motion Control; Robot Manipulators; Clifford Algebra; Dual Quaternions; UNIT DUAL QUATERNION;

D O I：

10.1016/j.ifacol.2020.12.2717

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We exploit the potentials of Clifford algebra to present a singularity free, compact, and computationally efficient scheme for kinematic control of serial manipulators. We introduce and implement the new special proportional-derivative control scheme. The introduced control scheme facilitates a fast motion control for the manipulators and enables them to react to the changes in their set points quickly. Such conditions are common in the context of dynamic working environments and collaborative manipulation scenarios. We describe the kinematics of the manipulators with unit dual quaternions using screw theory. The Lie-group properties of quaternions and dual quaternions are presented and discussed. By means of Lyapunov theory, it will be shown that the controller is globally exponentially stable. Copyright (C) 2020 The Authors.

引用

页码：9992 / 9999

页数：8

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