RT Journal Article
T1 Kinematic screws and dual quaternion based motion controllers
A1 Abaunza, Hernán
A1 Chandra, Rohit
A1 Özgür, Erol
A1 Corrales Ramón, Juan Antonio
A1 Mezouar, Youcef
K1 Dual quaternion
K1 Screw theory
K1 Lyapunov theory
K1 Kinematic control
K1 Robotic manipulator
AB 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.
PB Elsevier
SN 0967-0661
YR 2022
FD 2022-08-20
LK https://hdl.handle.net/10347/44431
UL https://hdl.handle.net/10347/44431
LA eng
NO This work was done in the context of the SOFTMANBOT project, which received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement number 869855
DS Minerva
RD 30 abr 2026