A dual-quaternion method for control of spatial rigid body

被引：56

作者：

Han, Dapeng ^{[1
]}

Wei, Qing ^{[1
]}

Li, Zexiang ^{[2
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha 410073, Hunan, Peoples R China

[2] Hong Kong Univ Sci & Technol, Dept Elect & Elect Engn, Hong Kong, Hong Kong, Peoples R China

来源：

PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2 | 2008年

关键词：

D O I：

10.1109/INTLEC.2008.4664064

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

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.

引用

页码：1 / +

页数：2

共 13 条

[1]

Bottema O., 1979, Theoretical Kinematics

[2]

BULLO F, 1995, 95010 CDS

[3]

Hand-eye calibration using dual quaternions [J].