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This paper proposes a robust dual-quaternion based H-infinity task-spacekinematic controller for robot manipulators. To address the manipulatorliability to modeling errors, uncertainties, exogenous disturbances, and theirinfluence upon the kinematics of the end-effector pose, we adapt H-infinitytechniques\textemdash suitable only for additive noises\textemdash to unit dualquaternions. The noise to error attenuation within the H-infinity framework hasthe additional advantage of casting aside requirements concerning noisedistributions, which are significantly hard to characterize within the group ofrigid-body transformations. Using dual quaternion algebra, we provide aconnection between performance effects over the end-effector trajectory anddifferent sources of uncertainties and disturbances while satisfyingattenuation requirements with minimum instantaneous control effort. The resultis an easy-to-implement closed-form H-infinity control design criterion. Theperformance of the proposed strategy is evaluated within different realisticsimulated scenarios and validated through real experiments.

Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra