The Role of Euler Parameters in Robot Control

نویسندگان

  • Fabrizio Caccavale
  • Bruno Siciliano
  • Luigi Villani
چکیده

Euler parameters constitute a well-known nonminimal singularity-free representation of rigid body orientation. This paper is aimed at illustrating the role of Euler parameters in robot control; namely, the kinematic control, dynamic control and impedance control problems are surveyed in a unifying perspective, where robot’s end-effector orientation displacements are described in terms of Euler parameters. The advantages over the Euler angles typically used in the operational space framework are demonstrated.

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تاریخ انتشار 2002