Set-point control of robot end-effector pose using dual quaternion feedback

Abstract : This paper proposes an easy-to-implement set-point control of robot end-effector pose using dual quaternion representation. A dual quaternion error invariant to the choice of the reference coordinate system is defined and the stability of two different kinds of controllers, one based on a constrained-Jacobian transpose and the other on a constrained-Jacobian pseudoinverse, both derived in dual quaternion space, is proved using Lyapunov theory. In addition, this paper describes a simple method to tune the proposed controllers from a practical and pragmatic point of view. Experiments with a 6-axis industrial robot are shown in order to highlight the efficiency of the method and the performance of the developed controllers.
Type de document :
Article dans une revue
Robotics and Computer-Integrated Manufacturing, Elsevier, 2018, 52, pp.100-110. 〈10.1016/j.rcim.2017.11.003〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02062621
Contributeur : Philippe Fraisse <>
Soumis le : samedi 9 mars 2019 - 14:26:25
Dernière modification le : lundi 18 mars 2019 - 16:09:25

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Hoang-Lan Pham, Bruno Vilhena Adorno, Véronique Perdereau, Philippe Fraisse. Set-point control of robot end-effector pose using dual quaternion feedback. Robotics and Computer-Integrated Manufacturing, Elsevier, 2018, 52, pp.100-110. 〈10.1016/j.rcim.2017.11.003〉. 〈lirmm-02062621〉

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