Robot Modeling and Control Using the Motor Algebra Framework

Abstract

The dynamic model of a robot arm is derived based on the iterative Newton-Euler formalism in terms of screw theory in the motor algebra framework. The iterative method allows us to compute the local dynamic model of each joint and therefore to apply localized non-linear controllers. In the experimental analysis, we compare a SE(3) PD and a sliding mode controllers. The experimental analysis shows that our control law is stable and tracks a non-linear trajectory.