Robust Dynamic Control of an Arm of a Humanoid Using Super Twisting Algorithm and Conformal Geometric Algebra

The pose tracking problem for the 5 DOF (degrees of freedom) arm of a humanoid robot is studied. The kinematic and dynamic models of the manipulator are obtained using the conformal geometric algebra framework. Then, using the obtained models, the well known super-twisting algorithm, is used to design a controller in terms of the conformal geometric algebra for the pose tracking problem. Simulation shows the performance of the proposed controller with the conformal models for the tracking an object.