Pose tracking without linearand angular-velocity feedback using dual quaternions

Filipe, Nuno; Valverde, Alfredo; Tsiotras, Panagiotis

doi:10.1109/taes.2015.150046

Cited by 46 publications

(28 citation statements)

References 13 publications

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“…This section focuses on the geometric background of dual quaternion algebra and some relevant properties. Readers can find more detail on these concepts in the literature [24][25][26][27][28][29][30][31]. The dual quaternion algebra offers a concise and efficient mathematical way to represent rotation and translation of the rigid body simultaneously.…”

Section: Forward Kinematics and Jacobian Matrixmentioning

confidence: 99%

“…where • is the circle product [29], Ta is the work represented in joint space,q τi is the i-th dual force applied to i-th joint of an industrial robot, "sc" means the scalar part of the dual quaternion. In addition, the dual quaternion form of the virtual work of the EE is given by…”

Section: Joint Stiffness Modeling and Identificationmentioning

confidence: 99%

“…The dual number quaternion, which is also called dual quaternions, is used as the transformation operator and it can represent the rotation and translation of a rigid body in space simultaneously. The advantage of representation based on dual quaternion algebra is that the dual quaternion offers a computationally efficient way to establish the model of the robot in kinematic analysis [28][29][30]. The dual quaternion was used to formulate the calibration algorithms by many researchers.…”

Section: Introductionmentioning

confidence: 99%

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Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Zhang

et al. 2018

Applied Sciences

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As the application of industrial robots is limited by low stiffness that causes low precision, a joint stiffness identification algorithm for serial robots is presented. In addition, a deformation compensation algorithm is proposed for the accuracy improvement. Both of these algorithms are formulated by dual quaternion algebra, which offers a compact, efficient, and singularity-free way in robot analysis. The joint stiffness identification algorithm is derived from stiffness modeling, which is the combination of the principle of virtual work and dual quaternion algebra. To validate the effectiveness of the proposed identification algorithm and deformation compensation algorithm, an experiment was conducted on a dual arm industrial robot SDA5F. The robot performed a drilling operation during the experiment, and the forces and torques that acted on the end-effector (EE) of both arms were measured in order to apply the deformation compensation algorithm. The results of the experiment show that the proposed identification algorithm is able to identify the joint stiffness parameters of serial industrial robots, and the deformation compensation algorithm can improve the accuracy of the position and orientation of the EE. Furthermore, the performance of the forces and torques that acted on the EE during the operation were improved as well.

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Section: Forward Kinematics and Jacobian Matrixmentioning

confidence: 99%

Section: Joint Stiffness Modeling and Identificationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Zhang

et al. 2018

Applied Sciences

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“…Wang et al [16] applied the dual-quaternion-based model to spacecraft dynamics and presented several finite time control laws based upon the sliding mode method. By employing dual quaternions, Filipe and Tsiotras [17] introduced a robust control method with additional mass and inertia identification mechanisms, and a velocity-free control law for spacecraft pose tracking problems was proposed in [18]. In [19,20], fault-tolerant issues under similar mathematical background are further addressed.…”

Section: Introductionmentioning

confidence: 99%

Dual-Quaternion-Based Spacecraft Autonomous Rendezvous and Docking Under Six-Degree-of-Freedom Motion Constraints

Dong

Akella

2018

Journal of Guidance, Control, and Dynamics

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This paper addresses the integrated attitude and position control problem for the final phase proximity operations of spacecraft autonomous rendezvous and docking, in which important motion constraints of the chaser spacecraft are considered. On the one hand, to ensure reliable real-time measurements of the relative attitude and position information between two spacecraft, the relevant sensor system of the chaser spacecraft is required to continuously point toward the target; on the other hand, for the proximity safety concerns, the chaser also needs to follow a specified approach path constraint. A special dual-quaternion-based artificial potential function is presented to encode information regarding these motion constraints. Using this potential function, a novel six-degree-of-freedom control method is proposed to ensure the arrival of the chaser at the docking port of the target with a desired relative attitude, while strictly complying with all constraints. The closed-loop stability is demonstrated by a Lyapunov-based method in conjunction with the special properties of the artificial potential function. The local minimum problem associated with the artificial potential function can be addressed by selection of control parameters that satisfies a mild condition. Simulation results of prototypical spacecraft rendezvous and docking missions are provided to illustrate the effectiveness of the proposed method.

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“…From a theoretical standpoint, the local minima issue still persists on account of using potential functions, but the solutions suggested a conditional switching of control gains at such a local trap to allow the trajectory to escape from it. By estimating the velocity using a dual-quaternion based filter, velocity-free controllers were obtained for pose tracking [37,38]. In more recent approaches, fault-tolerant control [39,40] and control in the presence of parameter uncertainties [41] under similar mathematical background was presented.…”

Section: Previous Workmentioning

confidence: 99%

Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

Pothen¹

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This thesis develops an analytical dynamics-based approach for simultaneous position and orientation tracking control of a chaser spacecraft with respect to an uncontrolled target spacecraft. The control requirements are formulated as holonomic or nonholonomic constraints, which are differentiated to obtain a constraint equation linear in acceleration. Exact real-time control forces are then generated by substituting the control constraints into the Udwadia-Kalaba equation. Three major contributions are presented. Firstly, the complete six-degree-of-freedom formulation of the Udwadia-Kalaba based pose tracking controller is presented. Simulations demonstrate the achievement of the desired objectives in space. Subsequently, a planar pose tracking controller is formulated for both a single and dual chaser configuration. Simulation results highlight the planar position and orientation synchronization with respect to a spinning target. Finally, the controller is experimentally validated in the Spacecraft Proximity Operations Testbed at Carleton University. Results show that the pose tracking control objective is achieved.

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Pose tracking without linearand angular-velocity feedback using dual quaternions

Cited by 46 publications

References 13 publications

Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Joint Stiffness Identification and Deformation Compensation of Serial Robots Based on Dual Quaternion Algebra

Dual-Quaternion-Based Spacecraft Autonomous Rendezvous and Docking Under Six-Degree-of-Freedom Motion Constraints

Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

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