2 papers
cs.RO2018
Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra
Luis Felipe Cruz Figueredo, Bruno Vilhena Adorno, João Yoshiyuki Ishihara
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, uncer…
math.OC2017
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
Hugo T. M. Kussaba, Luis F. C. Figueredo, João Y. Ishihara +1
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hys…