Robust pose control of robot manipulators using conformal geometric algebra

DOI10.1007/s00006-014-0448-2zbMath1297.93119MaRDI QIDQ742363

Eduardo Bayro-Corrochano, O. Carbajal-Espinosa, Alexander G. Loukianov, Luis E. González-Jiménez

Publication date: 18 September 2014

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-014-0448-2

zbMATH Keywords

motors; sliding modes; conformal geometric algebra; pose control; serial manipulators

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

93B12: Variable structure systems

70E60: Robot dynamics and control of rigid bodies

15A66: Clifford algebras, spinors

70G45: Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics

Uses Software

• CLUCalc
• Matlab