Phase-Space Modeling and Control of Robots in the Screw Theory Framework Using Geometric Algebra

The following paper talks about the dynamic modeling and control of robot manipulators using Hamilton’s equations in screw theory framework. difference between proposed work with diverse methods literature is ease obtaining laws directly screws co-screws, which considered modern robotics by authors. In addition, geometric algebra (GA) introduced as a simple iterative tool to obtain co-screws. On other hand, such controllers, Hamiltonian motion (in phase space) are developed co-screws screws, novel approach compute for robots. Regarding two designed ensure error’s convergence zero. controllers computed traditional feedback linearization sliding mode theory. first one easy program second provides robustness matched disturbances. prove stability closed loop system, different Lyapunov functions guarantee its Finally, simulations illustrated show comparison most famous approaches.