Geometric techniques for the kinematic modeling and control of robotic manipulators

Author

González-Jiménez, Luis Enrique ; Carbajal-Espinosa, Oscar Eleno ; Bayro-Corrochano, Eduardo

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., CINVESTAV, Zapopan, Mexico

fYear

2011

fDate

9-13 May 2011

Firstpage

5831

Lastpage

5836

Abstract

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

Keywords

algebra; control system synthesis; feedback; manipulator kinematics; position control; stability; tracking; 2 DOF robotic head; 5 DOF serial manipulator; conformal geometric algebra approach; error feedback controllers; geometric relationships; kinematical model synthesis; orientation tracking problem; position tracking problem; robotic manipulator kinematics; robotic system; stability analysis; Algebra; Joints; Kinematics; Manipulators; Mathematical model; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980447

Filename

5980447