Robust pose control of robot manipulators using conformal geometric algebra

DOI10.1007/S00006-014-0448-2zbMath1297.93119OpenAlexW1993005876WikidataQ56426220 ScholiaQ56426220MaRDI QIDQ742363

Eduardo Bayro-Corrochano, O. Carbajal-Espinosa, Luis E. González-Jiménez, Alexander G. Loukianov

Publication date: 18 September 2014

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-014-0448-2

zbMATH Keywords

motorssliding modesconformal geometric algebrapose controlserial manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Related Items (9)

CGA-based robotic snake control ⋮ Geometric control of the trident snake robot based on CGA ⋮ Control of 3-link robotic snake based on conformal geometric algebra ⋮ Geometric perception of pose and tracking ⋮ Geometric algebra for conics ⋮ A geometric algebra approach to invariance control in sliding regimes for switched systems ⋮ Analysis of dynamic modeling and solution of 3-RPS parallel mechanism based on conformal geometric algebra ⋮ Binocular computer vision based on conformal geometric algebra ⋮ A geometric algebra based higher dimensional approximation method for statics and kinematics of robotic manipulators

Uses Software

• CLUCalc
• Matlab

Cites Work

• Geometric algebra with applications in engineering
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