Kinematic screws and dual quaternion based motion controllers

Abstract

This paper presents a motion control approach with a focus on robotic manipulators based on screw theory and dual quaternions. The stability analysis of a general dual quaternion based controller has been capitalized to design an additional bounded twist controller. This controller is proposed to limit the maximum twist of the end-effector within a desired value, while preserving the accuracy achievable with high-gain feedback controllers. The proposed controllers could be useful for robotic tasks where curved motion is preferred over straight line motion. In that regard, the trajectories taken by the proposed controllers were analyzed for pose-to-pose control and some strategies have been provided for the proposed coupled controller to modify the natural trajectory. These behaviors were verified on a real robot as well as in simulation, comparing the experimental results with conventional decoupled controllers. The proposed controllers achieved smooth coupled motions which can be useful for tasks such as pick and place and assembly operations. Moreover, our coupled controllers based on screw theory need less actuator motion than the conventional decoupled approach for certain situations.