In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@article{AlAttar:2020:10.3390/robotics9040076,
author = {AlAttar, A and Kormushev, P},
doi = {10.3390/robotics9040076},
journal = {Robotics},
pages = {1--12},
title = {Kinematic-model-free orientation control for robot manipulation using locally weighted dual quaternions},
url = {http://dx.doi.org/10.3390/robotics9040076},
volume = {9},
year = {2020}
}
TY - JOUR
AB - 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.
AU - AlAttar,A
AU - Kormushev,P
DO - 10.3390/robotics9040076
EP - 12
PY - 2020///
SN - 2218-6581
SP - 1
TI - Kinematic-model-free orientation control for robot manipulation using locally weighted dual quaternions
T2 - Robotics
UR - http://dx.doi.org/10.3390/robotics9040076
UR - http://kormushev.com/papers/AlAttar_MDPI-2020.pdf
UR - http://hdl.handle.net/10044/1/82903
VL - 9
ER -
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