González-Jiménez, Luis E.Carbajal-Espinosa, O.Loukianov, AlexanderBayro-Corrochano, Eduardo2016-01-112016-01-112014-02-15González-Jiménez, L.E.; Carbajal-Espinosa, O.; Loukianov, A.; Bayro-Corrochano, E. (2014). Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra. In Advances in Applied Clifford Algebras.0188-7009DOI 10.1007/s00006-014-0448-2http://hdl.handle.net/11117/2777A controller, based on sliding mode control, is proposed for the n-link robotic manipulator pose tracking problem. The point pair (a geometric entity expressed in geometric algebra) is used to represent position and orientation of the end-effector of a manipulator. This permits us to express the direct and differential kinematics of the endeffector of the manipulator in a simple and compact way. For the control, a sliding mode controller is designed with the following properties: robustness against perturbations and parameter variations, finite time convergence, and easy implementation. Finally, the application, of the proposed controller in a 6 DOF robotic manipulator is presented via simulation.engSliding Mode ControlSerial ManipulatorsConformal Geometric Algebrainfo:eu-repo/semantics/article