Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Chandra, Rohit; Corrales-Ramon, Juan Antonio; Mezouar, Youcef
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 8500
• Page End: 8505
• Publication Date: 2020
• Subjects: Robots manipulators -- motion control systems -- torque control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1425
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A 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.