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Paper ThP201.5

González-Jiménez, Luis Enrique (Centro de Investigaciones y Estudios Avanzados del IPN (CINVESTA), Carbajal-Espinosa, Oscar (Centro de Investigaciones y Estudios Avanzados delIPN(CINVESTAV)), Bayro-Corrochano, Eduardo-Jose (CINVESTAV, Unidad Guadalajara)

Geometric Techniques for the Kinematic Modeling and Control of Robotic Manipulators

Scheduled for presentation during the Regular Sessions "Motion Control of Manipulators" (ThP201), Thursday, May 12, 2011, 16:25−16:40, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Motion Control of Manipulators, Kinematics, Control Architectures and Programming

Abstract

The kinematics of a robotic manipulator defines the geometric relationships between its elements. The synthesis of the kinematic 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.

 

 

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