2 papers
cs.RO2020
Dynamics of Mobile Manipulators using Dual Quaternion Algebra
Frederico F. A. Silva, Juan J. Quiroz-Omaña, Bruno V. Adorno
This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Eule…
cs.RO2019
Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities
Juan José Quiroz-Omaña, Bruno Vilhena Adorno
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for…