Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback

Hoang-Lan Pham 1, * Véronique Perdereau 1 Bruno Vilhena Adorno 2, * Philippe Fraisse 3
* Corresponding author
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We propose in this paper a new concept of unified position/orientation control of robot manipulator by describing the end-effector motion as a dual quaternion involving both translation and rotation. The development of the forward kinematic model and Jacobian matrix in dual quaternion space is detailed as well as the stability of the controller. At last, simulation and experimental results highlight the efficiency and performance of this controller.
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Hoang-Lan Pham, Véronique Perdereau, Bruno Vilhena Adorno, Philippe Fraisse. Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback. IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.658-663, ⟨10.1109/IROS.2010.5651097⟩. ⟨lirmm-00535893⟩

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