Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust H-infinity kinematic control of manipulator robots using dual
  quaternion algebra   This paper proposes a robust dual-quaternion based H-infinity task-space
kinematic controller for robot manipulators. To address the manipulator
liability to modeling errors, uncertainties, exogenous disturbances, and their
influence upon the kinematics of the end-effector pose, we adapt H-infinity
techniques\textemdash suitable only for additive noises\textemdash to unit dual
quaternions. The noise to error attenuation within the H-infinity framework has
the additional advantage of casting aside requirements concerning noise
distributions, which are significantly hard to characterize within the group of
rigid-body transformations. Using dual quaternion algebra, we provide a
connection between performance effects over the end-effector trajectory and
different sources of uncertainties and disturbances while satisfying
attenuation requirements with minimum instantaneous control effort. The result
is an easy-to-implement closed-form H-infinity control design criterion. The
performance of the proposed strategy is evaluated within different realistic
simulated scenarios and validated through real experiments.

6
The categories of this paper are: astro-ph
12
The categories of this paper are: nucl-th
37
The categories of this paper are: supr-con
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
0
The categories of this paper are: hep-ph
9
The categories of this paper are: nlin
14
The categories of this paper are: math-ph
36
The categories of this paper are: cmp-lg
5
The categories of this paper are: gr-qc
7
The categories of this paper are: hep-th
16
The categories of this paper are: stat
30
The categories of this paper are: q-alg
26
The categories of this paper are: bayes-an
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The categories of this paper are: dg-ga
34
The categories of this paper are: chem-ph