2024/02/07 by Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Teimoorzadeh, Ainoor +5
Computer Science · Engineering · #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2402.05037
openalex publication_date 2024/02/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.