Task-Space Tracking Control of Redundant Robot Manipulators via Quaternion Feedback
نویسندگان
چکیده
In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we Þrst develop model-based and adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.
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