Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra
Cargando...
Fecha
2014-02-15
Autores
González-Jiménez, Luis E.
Carbajal-Espinosa, O.
Loukianov, Alexander
Bayro-Corrochano, Eduardo
Título de la revista
ISSN de la revista
Título del volumen
Editor
Springer Basel
Resumen
Descripción
A 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.
Palabras clave
Sliding Mode Control, Serial Manipulators, Conformal Geometric Algebra
Citación
González-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.