Naslov
System Modeling and Control of 2DOF Robotic Manipulator based on Dual Quaternion Approach

Autori
Juraj Benić ; Josip Kasać ; Željko Šitum ; Tomislav Stipančić

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2022 International Conference on Electrical, Computer and Energy Technologies (ICECET) / - , 2022, 1-6

Skup
The 2nd International Conference on Electrical, Computer and Energy Technologies (ICECET)

Mjesto i datum
Prag, Češka Republika, 20.07.2022. - 22.07.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
dual quaternions , Euler-Lagrange , closed loop control , PD controller

Sažetak
In this paper, the dual quaternion approach is used for kinematic and dynamic modeling and control of robotic manipulator with two degrees of freedom. Elementary quaternion and dual quaternion operations used for obtaining kinematic and dynamic models are given. The Denavit-Hartenberg convention is used with dual quaternions for obtaining a forward kinematic model from which rotation and translation information is extracted. A dynamical model is obtained using Euler-Lagrange equations. The kinetic energy of each link is expressed with velocity dual quaternion calculated from the kinematic model, and with inertia tensor and diagonal mass matrix while potential energy is given as a function of the position dual quaternion. Based on the dynamical model, two control schemes are presented. The first one uses a PD controller for each link of the given manipulator, while the second one utilizes a dual quaternion approach for the set point problem. The proposed controllers are tested in simulation and the results are compared.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA