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

摘要

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.