A dual quaternion linear-quadratic optimal controller for trajectory tracking

Marinho, Murilo M.; Figueredo, Luis Felipe da Cruz; Adorno, Bruno Vilhena

doi:10.1109/iros.2015.7353948

Cited by 13 publications

(8 citation statements)

References 17 publications

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“…In this work, we assume that the desired trajectory, x d (t), is generated online by the surgeon through teleoperation or comanipulation. In this case, trajectory tracking controllers that require future knowledge of the trajectory [42] cannot be used, and a set-point regulator given by the solution of Problem 12 is a proper choice. The vector-field inequality for dynamic elements requires the following: 1) A function d d(q, t) ∈ R that encodes the (signed) distance between the two collidable entities.…”

Section: B Differential Kinematicsmentioning

confidence: 99%

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

et al. 2019

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Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.

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Section: B Differential Kinematicsmentioning

confidence: 99%

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

et al. 2019

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“…Unit dual quaternions have proven to be a powerful mathematical tool in robotics, not only in the representation of rigid motions, but also in robot modeling (Adorno 2011;Selig 2005), robot design (Perez and McCarthy, 2004), and control (Pham et al, 2010;Xiangke Wang et al, 2012;Figueredo et al, 2013;Wang and Yu, 2013;Marinho et al, 2015;Kussaba et al, 2017). They are more compact and computationally efficient than homogeneous transformation matrices and also do not present representational singularities (Adorno, 2011;Adorno and Fraisse, 2016).…”

Section: Fundamentals Of Dual Quaternion Algebramentioning

confidence: 99%

Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming

Quiroz-Omaña

Adorno

2017

J Intell Robot Syst

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I once heard the saying "God does not give us heavier loads than we can bear" and now I understand what it really means. Usually, behind every personal achievement, there are always dozens of people who helped in some way to get it. This part, which I consider one of the most important of the work, is dedicated to all those people who made possible not only the conclusion of this master thesis, but also made my life easier and more bearable at this incredible stage and in this wonderful country, Brazil. First of all, I would like to say thanks to Professor Bruno Adorno for accepting me as his student. From the first moment, he was patient and understanding with my Portuñol and provided me with excellent infrastructure conditions to study and work. I always wondered how he could understand me when I spoke to him quickly and without fluency, but then I learned that he speaks at least three Romance languages, Spanish being one of them. His excellent and precise technical observations guided me and helped me to consolidate my academic training in the best way. Likewise, his notes, corrections and English explanations transformed my archaic and primitive text into a decent and understandable one. One of the best qualities of Professor Bruno is to encourage a student who is going through an existential crisis (which is very common in postgraduate studies), using his unbeatable argumentative ability and humorous sentences, making the student, ironically now with twice tasks to be done, feels better. Finally, I would like to say, that I lost the friendly debate that I had for two years with him, regarding Windows and GNU/Linux. Now I can not imagine my personal computer without a free distribution. I would like to thank the faculty of the engineering school of UFMG for their teachings and explanations on the various topics that helped my academic education. Especially the professors Bruno Adorno, Guilherme Raffo, Leonardo Tôrres and Luis Aguirre, who, with their pedagogy and engineering jokes, kept the class interactive, making them not just masterful, but also agreeable, arousing more and more interest in research in the students. Thanks also to the Brazilian agencies CAPES, CNPQ and FAPEMIG for their financial support during these two years.

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“…Simulations highlighted the effectiveness of the proposed strategy in therms of its robustness and performance. Marinho et al (2015) proposed an optimal controller to efficiently balance the endeffector error and its task-space velocity, using dual quaternion algebra. Departing from the invariant error definition (Figueredo et al, 2013), they derived a perturbed time-varying linear system and then proposed an optimal criterion strategy to control the error in relation to perturbations, caused by a time-varying trajectory.…”

Section: Whole-body Controlmentioning

confidence: 99%

Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra

Silva

Adorno

2017

J Intell Robot Syst

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Two years go fast, so much happens in between though. A master's degree has this accelerated pace and I would like to thank everyone that stayed by my side during this journey, not forgetting the ones that just arrived in my life alongside the road. Especial thanks to my parents, Flavio and Isabel, for the constant support and incentive. I would not be here without you. To my brother, Lucas, for all the laughs and company to movie marathons (specially the found footage ones). My deepest thanks to Prof. Bruno Adorno, who has been advising me since the end of my undergraduate course. He has been a model of professionalism, ethics and management ever since. Always present in the work, in both the theoretical and practical aspects of it. I owe him a great deal of my capabilities of critical thinking, writing and work presentation. I am very grateful for all the "just five minutes" meetings, in which he would always find time in the middle of his attributions to pointing me in the right direction. Thank you to all the UFMG's staff, for helping in my academic formation during this degree. Specially to Prof. Guilherme Raffo, Prof. Luciano Pimenta and Prof. Leonardo Tôrres, for being models of professionalism. Thank you to Vera, for never stressing with our mess in the laboratory and for always keeping things in order for us, always smiling. A especial thanks to Prof. Guilherme Raffo, for hosting the best event of the year: the annual MACRO's barbecue! He honors the traditions of the "Brazilians of the South," with the best meats and the coldest beers! Thanks to all my friends that endured the moments of despair at the end of disciplines and papers' deadlines, without never giving up. Thank you to

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A dual quaternion linear-quadratic optimal controller for trajectory tracking

Cited by 13 publications

References 17 publications

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming

Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra

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