文章基本信息

标题：Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions ⁎
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作者：Rohit Chandra ; Juan Antonio Corrales-Ramon ; Youcef Mezouar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：8500-8505
DOI：10.1016/j.ifacol.2020.12.1425
语种：English
出版社：Elsevier
摘要：AbstractA new method for resolved-acceleration control of serial chain manipulators has been proposed which uses dual quaternion representation of screw-based motion variables, i.e. pose, velocity and acceleration. The corresponding coupled controller considers both translation and orientation errors simultaneously for trajectory tracking and utilizes spatial acceleration to compute the feedforward compensation term for feedback linearization. The proposed coupled control law was validated on a robotic arm along a pre-defined trajectory. The controller demonstrated an improved trajectory tracking performance as compared to the conventional decoupled resolved-acceleration controller which treats translation and orientation error separately.
关键词：KeywordsRobots manipulatorsmotion control systemstorque control