Robot Modeling and Control Using the Motor Algebra Framework

被引：0
作者：
Bayro-Corrochano, Eduardo [1 ]
机构：
[1] CINVESTAV, Dept Elect Engn & Comp Sci, Campus Guadalajara, Guadalajara, Jalisco, Mexico
来源：
2019 12TH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL (ROMOCO '19) | 2019年
关键词：
Iterative Newton-Euler; N-E modeling; motor algebra; geometric algebra; dynamic model; nonlinear control; SE(3) PD control; sliding mode control; robot arms; tracking;
D O I：
10.1109/romoco.2019.8787386
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic model of a robot arm is derived based on the iterative Newton-Euler formalism in terms of screw theory in the motor algebra framework. The iterative method allows us to compute the local dynamic model of each joint and therefore to apply localized non-linear controllers. In the experimental analysis, we compare a SE(3) PD and a sliding mode controllers. The experimental analysis shows that our control law is stable and tracks a non-linear trajectory.
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页码：1 / 8
页数：8
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