Quaternion based control of industrial robots

 January 23, 2017 - January 23, 2020


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

Astract: A 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 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 15th International Workshop on Variable Structure Systems, Graz, Austria, 2018. 

Faculty

Other Members

  • Harshil Prajapati
  • Darshil Amin
  • Khanjan Joshi
  • Kirtiman Singh

Tags

Mechatronics, Control Systems, Physical and Mathematical Sciences


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