Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra

被引：20

作者：

Gonzalez-Jimenez, L. ^{[1
]}

Carbajal-Espinosa, O. ^{[2
]}

Loukianov, A. ^{[2
]}

Bayro-Corrochano, E. ^{[2
]}

机构：

[1] Inst Tecnol Estudios Super Occidente ITESO AC, Tlaquepaque 45604, Jalisco, Mexico

[2] CINVESTAV, Zapopan 45019, Jalisco, Mexico

来源：

ADVANCES IN APPLIED CLIFFORD ALGEBRAS | 2014年 / 24卷 / 02期

关键词：

Serial manipulators; pose control; motors; conformal geometric algebra; sliding modes;

D O I：

10.1007/s00006-014-0448-2

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

A 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.

引用

页码：533 / 552

页数：20

共 50 条

[1] Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra
L. González-Jiménez
O. Carbajal-Espinosa
A. Loukianov
E. Bayro-Corrochano
[J]. Advances in Applied Clifford Algebras, 2014, 24 : 533 - 552
[2] Modeling and Pose Control of Robotic Manipulators and Legs using Conformal Geometric Algebra
Carbajal-Espinosa, Oscar
Gonzalez-Jimenez, Luis
Oviedo-Barriga, Jose
Castillo-Toledo, Bernardino
Loukianov, Alexander
Bayro-Corrochano, Eduardo
[J]. COMPUTACION Y SISTEMAS, 2015, 19 (03): : 475 - 486
[3] Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra
Lechuga-Gutierrez, L.
Macias-Garcia, E.
Martinez-Teran, G.
Zamora-Esquivel, J.
Bayro-Corrochano, E.
[J]. MECCANICA, 2022, 57 (06) : 1413 - 1428
[4] Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra
L. Lechuga-Gutierrez
E. Macias-Garcia
G. Martínez-Terán
J. Zamora-Esquivel
E. Bayro-Corrochano
[J]. Meccanica, 2022, 57 : 1413 - 1428
[5] Medical Robot Vision using the Conformal Geometric Algebra Framework
Garza-Burgos, M.
Sanchez-O, E.
Bayro-Corrochano, E.
[J]. 2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2016, : 1087 - 1093
[6] Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra
Lian, Binbin
[J]. ADVANCES IN APPLIED CLIFFORD ALGEBRAS, 2018, 28 (01)
[7] Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra
Binbin Lian
[J]. Advances in Applied Clifford Algebras, 2018, 28
[8] Robot Perception and Handling Actions Using the Conformal Geometric Algebra Framework
Zamora-Esquivel, Julio
Bayro-Corrochano, Eduardo
[J]. ADVANCES IN APPLIED CLIFFORD ALGEBRAS, 2010, 20 (3-4) : 959 - 990
[9] Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra
Carbajal-Espinosa, O.
Gonzalez-Jimenez, L.
Loukianov, A.
Bayro-Corrochano, E.
[J]. COMPUTATIONAL KINEMATICS (CK2013), 2014, 15 : 261 - 269
[10] Robot Perception and Handling Actions Using the Conformal Geometric Algebra Framework
Julio Zamora-Esquivel
Eduardo Bayro-Corrochano
[J]. Advances in Applied Clifford Algebras, 2010, 20 : 959 - 990

← 1 2 3 4 5 →