This is an interim version of our Electronic Legal Deposit Catalogue-eJournals and eBooks while we continue to recover from a cyber-attack.
Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions ⁎The authors are supported by the H2020 FoF project SoftManBot. This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no 869855. Issue 2 (2020)
Record Type:
Journal Article
Title:
Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions ⁎The authors are supported by the H2020 FoF project SoftManBot. This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no 869855. Issue 2 (2020)
Main Title:
Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions ⁎The authors are supported by the H2020 FoF project SoftManBot. This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no 869855.
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.