DocumentCode
3491428
Title
A Dual-quaternion Method for Control of Spatial Rigid Body
Author
Han, Dapeng ; Wei, Qing ; Li, Zexiang
Author_Institution
Nat. Univ. of Defense Technol., Changsha
fYear
2008
fDate
6-8 April 2008
Firstpage
1
Lastpage
6
Abstract
This paper presents a new formulation for control of spatial rigid bodies. After revealing the geometric structure of dual quaternions, logarithmic feedback are utilized to derive control laws in both kinematic design and dynamic design. The regulation problem and the tracking problem are tackled respectively. Comparison with conventional methods together with simulation results are given to show the effectiveness of the new method.
Keywords
PD control; distributed parameter systems; dynamics; feedback; kinematics; motion control; dual-quaternion method; dynamic design; geometric structure; kinematic design; logarithmic feedback; motion control; proportional-derivative laws; spatial rigid body control; Angular velocity; Automatic control; Automation; Equations; Feedback; Kinematics; Mechatronics; Motion control; Navigation; Quaternions;
fLanguage
English
Publisher
ieee
Conference_Titel
Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on
Conference_Location
Sanya
Print_ISBN
978-1-4244-1685-1
Electronic_ISBN
978-1-4244-1686-8
Type
conf
DOI
10.1109/ICNSC.2008.4525172
Filename
4525172
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