Service interruption on Monday 11 July from 12:30 to 13:00: all the sites of the CCSD (HAL, EpiSciences, SciencesConf, AureHAL) will be inaccessible (network hardware connection).
Skip to Main content Skip to Navigation
Journal articles

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.
Document type :
Journal articles
Complete list of metadata

https://hal-lirmm.ccsd.cnrs.fr/lirmm-02062621
Contributor : Philippe Fraisse Connect in order to contact the contributor
Submitted on : Saturday, March 9, 2019 - 2:26:25 PM
Last modification on : Tuesday, July 5, 2022 - 10:36:18 AM

Identifiers

Citation

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⟩

Share

Metrics

Record views

93