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- W4312472012 abstract "In this paper, a dual quaternion based uncertainty and disturbance estimator (UDE) controller is proposed for a redundant robot manipulator. By employing dual quaternion, the geometric parameters (including position, orientation, velocity and acceleration) of robot manipulator motion are accurately represented without singularity. Then, the dynamics model of a 7-DOF redundant manipulator is established in dual quaternion space, which can describe the coupling effect between translation and rotation. The tracking error is also defined to guarantee that the posture of the end-effector can converge to the desired trajectory. With twist error dynamics, the UDE control framework is developed. This framework can improve the robust trajectory performance in the case of nonlinearity, model uncertainty and external disturbance. The dual equilibrium problem is also handled with the introduction of the parameter s <inf xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>e</inf> , which represents the symbolic function of the dual quaternion error real part. Finally, the tracking performance and robustness of the proposed controller are validated by numerical simulations." @default.
- W4312472012 created "2023-01-05" @default.
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- W4312472012 date "2022-08-20" @default.
- W4312472012 modified "2023-09-30" @default.
- W4312472012 title "UDE-based Robust Control of Robot Manipulator Using Dual Quaternion" @default.
- W4312472012 doi "https://doi.org/10.1109/case49997.2022.9926476" @default.
- W4312472012 hasPublicationYear "2022" @default.
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