Robust kinematic control of manipulator robots using dual quaternion representation

L.F.C. Figueredo, B.V. Adorno, J.Y. Ishihara, G.A. Borges

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper addresses the H ∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H ∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.
Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Number of pages6
ISBN (Electronic)9781467356435
ISBN (Print)9781467356411
Publication statusPublished - 17 Oct 2013


  • Quaternions
  • Joints
  • Robot kinematics
  • Kinematics
  • Vectors
  • robust control


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