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Kinematic-Model-Free Orientation Control for Robot Manipulation Using Locally Weighted Dual Quaternions
| Content Provider | MDPI |
|---|---|
| Author | AlAttar, Ahmad Kormushev, Petar |
| Copyright Year | 2020 |
| Description | Conventional control of robotic manipulators requires prior knowledge of their kinematic structure. Model-learning controllers have the advantage of being able to control robots without requiring a complete kinematic model and work well in less structured environments. Our recently proposed Encoderless controller has shown promising ability to control a manipulator without requiring any prior kinematic model whatsoever. However, this controller is only limited to position control, leaving orientation control unsolved. The research presented in this paper extends the state-of-the-art kinematic-model-free controller to handle orientation control to manipulate a robotic arm without requiring any prior model of the robot or any joint angle information during control. This paper presents a novel method to simultaneously control the position and orientation of a robot’s end effector using locally weighted dual quaternions. The proposed novel controller is also scaled up to control three-degrees-of-freedom robots. |
| Starting Page | 76 |
| e-ISSN | 22186581 |
| DOI | 10.3390/robotics9040076 |
| Journal | Robotics |
| Issue Number | 4 |
| Volume Number | 9 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2020-09-24 |
| Access Restriction | Open |
| Subject Keyword | Robotics Orientation Control Model Learning Adaptive Control Kinematic-model-free Control Locally Weighted Dual Quaternions |
| Content Type | Text |
| Resource Type | Article |
