| dc.contributor.author | González-Jiménez, Luis E. | |
| dc.contributor.author | Carbajal-Espinosa, O. | |
| dc.contributor.author | Loukianov, Alexander | |
| dc.contributor.author | Bayro-Corrochano, Eduardo | |
| dc.date.accessioned | 2016-01-11T20:16:11Z | |
| dc.date.accessioned | 2023-03-10T17:16:47Z | |
| dc.date.available | 2016-01-11T20:16:11Z | |
| dc.date.available | 2023-03-10T17:16:47Z | |
| dc.date.issued | 2014-02-15 | |
| dc.identifier.citation | González-Jiménez, L.E.; Carbajal-Espinosa, O.; Loukianov, A.; Bayro-Corrochano, E. (2014). Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra. In Advances in Applied Clifford Algebras. | es |
| dc.identifier.issn | 0188-7009 | |
| dc.identifier.other | DOI 10.1007/s00006-014-0448-2 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12032/70479 | |
| dc.description | A controller, based on sliding mode control, is proposed for the n-link robotic manipulator pose tracking problem. The point pair (a geometric entity expressed in geometric algebra) is used to represent position and orientation of the end-effector of a manipulator. This permits us to express the direct and differential kinematics of the endeffector of the manipulator in a simple and compact way. For the control, a sliding mode controller is designed with the following properties: robustness against perturbations and parameter variations, finite time convergence, and easy implementation. Finally, the application, of the proposed controller in a 6 DOF robotic manipulator is presented via simulation. | es |
| dc.description.sponsorship | Consejo Nacional de Ciencia y Tecnología | es |
| dc.language.iso | eng | es |
| dc.publisher | Springer Basel | es |
| dc.relation.ispartofseries | Advances in Applied Clifford Algebras; | |
| dc.rights.uri | http://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdf | es |
| dc.subject | Sliding Mode Control | es |
| dc.subject | Serial Manipulators | es |
| dc.subject | Conformal Geometric Algebra | es |
| dc.title | Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra | es |
| dc.type | info:eu-repo/semantics/article | es |
