Set-point control of robot end-effector pose using dual quaternion feedback - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Robotics and Computer-Integrated Manufacturing Year : 2018

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.

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Dates and versions

lirmm-02062621 , version 1 (09-03-2019)

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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, 2018, 52, pp.100-110. ⟨10.1016/j.rcim.2017.11.003⟩. ⟨lirmm-02062621⟩
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