Name
Abstract | ||
|---|---|---|
This paper addresses the H infinity robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H infinity control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6630836 | 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) |
Keywords | Field | DocType |
end effectors,robust control | Convergence (routing),Kinematics,Dual quaternion,Control theory,Decoupling (cosmology),Robot end effector,Robustness (computer science),Control engineering,Robust control,Robot,Mathematics | Conference |
Volume | Issue | ISSN |
2013 | 1 | 1050-4729 |
Citations | PageRank | References |
7 | 0.58 | 5 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luis Felipe da Cruz Figueredo | 1 | 16 | 4.91 |
| Bruno Vilhena Adorno | 2 | 45 | 8.08 |
| JoÃo Yoshiyuki Ishihara | 3 | 100 | 16.78 |
| Geovany Araújo Borges | 4 | 12 | 2.53 |