On Transpose Jacobian–based Regulators Using Unit Quaternions: an Energy Shaping Approach
نویسندگان
چکیده
The regulation of end–effector pose of manipulators is addressed in this paper. Regarding nonredundant manipulators, we present an extension of transpose Jacobian–based regulators obtained by energy shaping, where orientation is represented by unit quaternion. Copyright © 2002 IFAC
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