Resolved-Acceleration Control of Serial Robotic Manipulators Using Unit Dual Quaternions

Abstract : A new method for resolved-acceleration control of serial chain manipulators has been proposed which uses dual quaternion representation of screw-based motion variables, i.e. pose, velocity and acceleration. The corresponding coupled controller considers both translational and orientational errors simultaneously for trajectory tracking and utilizes spatial acceleration to compute the feedforward compensation term for feedback linearization. The proposed coupled control law was validated on a robotic arm along a pre-defined trajectory. The controller demonstrated an improved trajectory tracking performance as compared to the conventional decoupled resolved-acceleration controller which treats translational and orientational error separately.