Geometric Techniques for the Kinematic Modeling and Control of Robotic Manipulators

摘要：

The kinematics of a robotic manipulator defines the geometric relationships between its elements. The synthesis of the kinematical model for this type of robots is presented in this work using the Conformal Geometric Algebra approach. Moreover, two error feedback controllers, one for the position tracking problem and another for the orientation tracking problem, are developed using the same framework. The stability analysis is obtained for both controllers, and their application to a robotic system, composed of a serial manipulator of 5 DOF and a robotic head of 2 DOF, is presented via simulation.

作者: Luis Enrique González-Jiménez Oscar Eleno Carbajal-Espinosa Eduardo Bayro-Corrochano

作者单位: CINVESTAV,Department of Electrical Engineering and Computer Sciences,Unidad Guadalajara,Zapopan,Jalisco,45015 México

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5831-5836

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）