Robust H∞ kinematic control of manipulator robots using dual quaternion algebra.
Luis Felipe da Cruz FigueredoBruno Vilhena AdornoJoão Yoshiyuki IshiharaPublished in: Autom. (2021)
Keyphrases
- degrees of freedom
- control system
- end effector
- inverse kinematics
- robot control
- control method
- robot manipulators
- parallel manipulator
- joint space
- robotic arm
- mobile robot
- trajectory tracking
- autonomous systems
- robotic systems
- autonomous robots
- robotic manipulator
- query language
- computer controlled
- physical constraints
- visual servoing
- vision system
- control strategy
- formation control
- robot behavior
- quadruped robot
- industrial robots
- robot teams
- cooperative
- wheeled mobile robots
- motion control
- master slave
- multi robot
- optimal control
- force control
- unstructured environments
- laparoscopic surgery
- robot motion
- robust stability
- manipulation tasks
- algebraic expressions