Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra.
Luis Felipe da Cruz FigueredoBruno Vilhena AdornoJoão Yoshiyuki IshiharaPublished in: CoRR (2018)
Keyphrases
- degrees of freedom
- end effector
- control method
- control system
- robotic systems
- joint space
- inverse kinematics
- mobile robot
- parallel manipulator
- wheeled mobile robots
- robot manipulators
- vision system
- industrial robots
- manipulation tasks
- autonomous robots
- autonomous systems
- robotic manipulator
- robotic arm
- master slave
- motion control
- robot control
- computer controlled
- robot teams
- algebraic expressions
- pose estimation
- parallel robot
- unstructured environments
- robot behavior
- data model
- physical constraints
- hand eye
- trajectory tracking
- relational algebra
- humanoid robot
- motion planning
- distributed control
- primal dual
- cooperative