ABSTRACT

This project proposes a leader-follower framework for trajectory planning and control where quaternions are utilized to describe the position and orientation of the follower end effector. A simple one-to-one map connecting the work volumes of the leader and follower is used.

Description
 Finite-time control of articulated robots using quaternions is studied in this project. Remote dexterous control of articulated robots is shown as a natural application which finds utility in hazardous area and space robotics applications where dexterity of the robot end-effector is not be compromised while maintaining the safety of the human operator. This project proposes a leader-follower framework for trajectory planning and control where quaternions are utilized to describe the position and orientation of the follower end effector. A simple one-to-one map connecting the work volumes of the leader and follower is used.

Publications:
Kirtiman Singh and Harshal Oza, “Second-order sliding mode control using unit dual-quaternion dynamics with application to robotics", accepted for publication in the proceedings of the 15thInternational Workshop on Variable Structure Systems, Graz, Austria, 2018. 

Other Members: Harshil Prajapati,Darshil Amin, Khanjan Joshi, Kirtiman Singh 

Keywords: Mechatronics, Control Systems - Automation and Robotics