Robust <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e855" altimg="si6.svg"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mi>∞</mml:mi></mml:mrow></mml:msub></mml:math> kinematic control of manipulator robots using dual quaternion algebra

Figueredo, Luis Felipe da Cruz; Adorno, Bruno Vilhena; Ishihara, J.Y.

doi:10.1016/j.automatica.2021.109817

Cited by 19 publications

(4 citation statements)

References 15 publications

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“…Furthermore, unit dual quaternions capture the intrinsic coupling between translation and rotation in rigid motions, which has an important practical consequence: the instantaneous control effort (i.e., the norm of the control input) of controllers based on dual quaternions is smaller than the instantaneous control effort of decoupled controllers that use rotation quaternions and translation vectors separately, as reported in the literature [48].…”

Section: Discussionmentioning

confidence: 95%

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Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Savino

Pimenta

Shah

et al. 2020

Journal of the Franklin Institute

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This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents' poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators.the multi-agent system asymptotically achieves formation if and only if the graph G describing the network topology has a directed spanning tree and vec 8 u x,i is in the range space of J w,i . 2Proof. First we prove that vec 8 u x,i is in the range space of J w,i if and only if vec 8 uConversely, if J w,i J † w,i vec 8 u x,i = vec 8 u x,i then ∃v J † w,i vec 8 u x,i such that J w,i v = vec 8 u x,i , which implies that vec 8 u x,i ∈ range J w,i . Hence,

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Section: Discussionmentioning

confidence: 95%

“…and if and only if the graph G has a directed spanning tree. Choosing vec 8 u x,i as in (48), considering (46) and (51), and using the fact that − H 8 (δ i ) is invertible and that, by Theorem 4…”

Section: Consensus-based Formation Controlmentioning

confidence: 99%

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Savino

Pimenta

Shah

et al. 2020

Journal of the Franklin Institute

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“…Filtering algorithms can be applied to the robot control system to attenuate the vibrations. Effects caused by disturbances should be mitigated by applying control algorithms, such as a disturbance rejection scheme [79], fuzzy PID control [80], or H ∞ control [81]. Communication delays of feedback data and lengthy response time can also cause the instability of robot control systems, while solutions should be taken to address those problems [82].…”

Section: Ur7: the Robot End-effector Must Have Sufficient Flexibility...mentioning

confidence: 99%

Design Requirements of Robotic Systems for Assisting Percutaneous Tracheostomy: A Scoping Review and Development Framework

Tang,

Li,

et al. 2023

IEEE Trans. Med. Robot. Bionics

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Percutaneous dilatational tracheostomy (PDT) is a common procedure for patients managed in Intensive Care Units (ICUs). PDT has equivalent complication rates to surgical tracheostomy but can be performed at the ICU bedside, eliminating delays in the procedure. However, PDT complications associated with initial needle insertion into the trachea still exist and can cause severe consequences such as pneumothorax, major haemorrhage, and death. Robotic technology is a powerful adjunct to assist manual surgery, improving procedural safety and accuracy. Whilst robotic surgery of the airway has become established, there is limited research and guidance regarding robotics to assist tracheostomy insertions. This study aims to identify design requirements that map clinical needs to design details and motivate the development of a scientific design framework in robotic tracheostomy. A literature search in Google Scholar, PubMed, and Web of Science on topics relevant to robotic tracheostomy was conducted. Clinical requirements were evaluated by distributing an online questionnaire to professional clinicians. Thirteen eligible studies were presented, from which 36 design requirements in four categories were collected. We present a design framework to inform the development of robotic tracheostomy with key requirements validated for suitability by relevant healthcare professionals.

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“…For the sake of simplicity, from now on, inertial twist will be simply denoted as ω and unless stated, all variables are in the robot base frame. Considering J ∈ R 6×NDoF the dual quaternion-based geometric Jacobian, which maps the coupled dual quaternion twist to the robot joint space as in [23], the joint space controller is defined as…”

Section: B Controller Designmentioning

confidence: 99%

Dual Quaternion-Based Visual Servoing for Grasping Moving Objects

Farias¹,

Adjigble²,

Tamadazte³

et al. 2021

Preprint

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This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D space. Instead of using the conventional axis-angle parameterization, dual quaternions allow designing the visual servoing task in a more compact manner and provide robustness to manipulator singularities. Given an object point cloud, LoCoMo generates a ranked list of grasp and pre-grasp poses, which are used as desired poses for visual servoing. Whenever the object moves (tracked by visual marker tracking), the desired pose updates automatically. For this, capitalising on the dual quaternion spatial distance error, we propose a dynamic grasp re-ranking metric to select the best feasible grasp for the moving object. This allows the robot to readily track and grasp arbitrarily moving objects. In addition, we also explore the robot null-space with our controller to avoid joint limits so as to achieve smooth trajectories while following moving objects. We evaluate the performance of the proposed visual servoing by conducting simulation experiments of grasping various objects using a 7-axis robot fitted with a 2-finger gripper. Obtained results demonstrate the efficiency of our proposed visual servoing.

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Robust H∞ kinematic control of manipulator robots using dual quaternion algebra

Cited by 19 publications

References 15 publications

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Design Requirements of Robotic Systems for Assisting Percutaneous Tracheostomy: A Scoping Review and Development Framework

Dual Quaternion-Based Visual Servoing for Grasping Moving Objects

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