Abstract
Abstract We exploit the potentials of Clifford algebra to present a singularity free, compact, and computationally efficient scheme for kinematic control of serial manipulators. We introduce and implement the new special proportional-derivative control scheme. The introduced control scheme facilitates a fast motion control for the manipulators and enables them to react to the changes in their set points quickly. Such conditions are common in the context of dynamic working environments and collaborative manipulation scenarios. We describe the kinematics of the manipulators with unit dual quaternions using screw theory. The Lie-group properties of quaternions and dual quaternions are presented and discussed. By means of Lyapunov theory, it will be shown that the controller is globally exponentially stable.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
