Title :
Position and orientation control of robot manipulators using dual quaternion feedback
Author :
Pham, Hoang-Lan ; Perdereau, Véronique ; Adorno, Bruno Vilhena ; Fraisse, Philippe
Author_Institution :
UPMC Univ Paris 06, Paris, France
Abstract :
We propose in this paper a new concept of unified position/orientation control of robot manipulator by describing the end-effector motion as a dual quaternion involving both translation and rotation. The development of the forward kinematic model and Jacobian matrix in dual quaternion space is detailed as well as the stability of the controller. At last, simulation and experimental results highlight the efficiency and performance of this controller.
Keywords :
Jacobian matrices; end effectors; feedback; manipulator kinematics; motion control; position control; stability; Jacobian matrix; dual quaternion feedback; end-effector motion; forward kinematic model; orientation control; position control; robot manipulators; rotation; stability; translation;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5651097