Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra

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dc.contributor.authorGonzález-Jiménez, Luis E.
dc.contributor.authorCarbajal-Espinosa, O.
dc.contributor.authorLoukianov, Alexander
dc.contributor.authorBayro-Corrochano, Eduardo
dc.date.accessioned2016-01-11T20:16:11Z
dc.date.available2016-01-11T20:16:11Z
dc.date.issued2014-02-15
dc.descriptionA 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.es
dc.description.sponsorshipConsejo Nacional de Ciencia y Tecnologíaes
dc.identifier.citationGonzález-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.es
dc.identifier.issn0188-7009
dc.identifier.otherDOI 10.1007/s00006-014-0448-2
dc.identifier.urihttp://hdl.handle.net/11117/2777
dc.language.isoenges
dc.publisherSpringer Baseles
dc.relation.ispartofseriesAdvances in Applied Clifford Algebras;
dc.rights.urihttp://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdfes
dc.subjectSliding Mode Controles
dc.subjectSerial Manipulatorses
dc.subjectConformal Geometric Algebraes
dc.titleRobust Pose Control of Robot Manipulators Using Conformal Geometric Algebraes
dc.typeinfo:eu-repo/semantics/articlees
rei.peerreviewedYeses
rei.revisorAdvances in Applied Cliff ord Algebras

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