chandra2020 | Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions
The authors propose a new controller using Resolved-Acceleration Control (looks like a feedback linearization) for the trajectory tracking of serial robotic manipulators using dual quaternions and based on screw theory. The controller is compared to a uncoupled controller (which separates translation and orientation) getting similar results, actually performed worse on position but better on orientation.
Cita bastante ozgur2016 e também três trabalhos de Featherstone que seriam importantes de se ler pois embasam o uso de vetores em 6d e uma separação entre acelaração convencional e aceleração espacial (a espacial seria a derivada da velocidade dual)
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The authors propose a new controller using Resolved-Acceleration Control (looks like a feedback linearization) for the trajectory tracking of serial robotic manipulators using dual quaternions and based on screw theory. The controller is compared to a uncoupled controller (which separates translation and orientation) getting similar results, actually performed worse on position but better on orientation.
Cita bastante ozgur2016 e também três trabalhos de Featherstone que seriam importantes de se ler pois embasam o uso de vetores em 6d e uma separação entre acelaração convencional e aceleração espacial (a espacial seria a derivada da velocidade dual)