| Autor: |
Ahmad AlAttar, Petar Kormushev |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Robotics, Vol 9, Iss 4, p 76 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2218-6581 |
| DOI: |
10.3390/robotics9040076 |
| Popis: |
Conventional control of robotic manipulators requires prior knowledge of their kinematic structure. Model-learning controllers have the advantage of being able to control robots without requiring a complete kinematic model and work well in less structured environments. Our recently proposed Encoderless controller has shown promising ability to control a manipulator without requiring any prior kinematic model whatsoever. However, this controller is only limited to position control, leaving orientation control unsolved. The research presented in this paper extends the state-of-the-art kinematic-model-free controller to handle orientation control to manipulate a robotic arm without requiring any prior model of the robot or any joint angle information during control. This paper presents a novel method to simultaneously control the position and orientation of a robot’s end effector using locally weighted dual quaternions. The proposed novel controller is also scaled up to control three-degrees-of-freedom robots. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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