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• W2900868559 abstract "This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, and their influence upon the kinematics of the end-effector pose, we adapt H-infinity techniquestextemdash suitable only for additive noisestextemdash to unit dual quaternions. The noise to error attenuation within the H-infinity framework has the additional advantage of casting aside requirements concerning noise distributions, which are significantly hard to characterize within the group of rigid-body transformations. Using dual quaternion algebra, we provide a connection between performance effects over the end-effector trajectory and different sources of uncertainties and disturbances while satisfying attenuation requirements with minimum instantaneous control effort. The result is an easy-to-implement closed-form H-infinity control design criterion. The performance of the proposed strategy is evaluated within different realistic simulated scenarios and validated through real experiments." @default.
• W2900868559 created "2018-11-29" @default.
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• W2900868559 date "2018-11-13" @default.
• W2900868559 modified "2023-09-27" @default.
• W2900868559 title "Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra." @default.
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