Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2010

Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback

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.

Domains

Automatic
Fichier principal
Vignette du fichier
IROS10_1195_FI.pdf (407.37 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

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

Identifiers

Cite

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⟩
416 View
4029 Download

Altmetric

Share

Gmail Facebook X LinkedIn More