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

Hoang-Lan Pham 1 Bruno Vilhena Adorno 2 Véronique Perdereau 1 Philippe Fraisse 3
1 UPMC - Université Pierre et Marie Curie - Paris 6
2 UFMG - Universidade Federal de Minas Gerais [Belo Horizonte]
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02062621
Contributor : Philippe Fraisse <>
Submitted on : Saturday, March 9, 2019 - 2:26:25 PM
Last modification on : Thursday, April 4, 2019 - 1:45:28 AM

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LIRMM | CNRS | IDH | TDS-MACS | MIPS | UNIV-MONTPELLIER | SORBONNE-UNIVERSITE

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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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