Position and Orientation Control of Robot Manipulators Using Dual Quaternion Feedback - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
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.

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Dates and versions

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

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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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