Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback

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.

Domaines

Automatique / Robotique

Fichier principal

IROS10_1195_FI.pdf (407.37 Ko)

Origine	Fichiers produits par l'(les) auteur(s)
Licence	Autorisation HAL

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00535893

Soumis le : samedi 13 novembre 2010-17:58:21

Dernière modification le : vendredi 24 mars 2023-14:52:53

Archivage à long terme le : lundi 14 février 2011-02:31:12

Dates et versions

lirmm-00535893 , version 1 (13-11-2010)

Licence

Autorisation HAL

Identifiants

HAL Id : lirmm-00535893 , version 1
DOI : 10.1109/IROS.2010.5651097

Citer

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⟩