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.
The role of Euler parameters in robot control / F., Caccavale; Siciliano, Bruno; Villani, Luigi. - In: ASIAN JOURNAL OF CONTROL. - ISSN 1561-8625. - STAMPA. - 1:1(1999), pp. 25-34. [10.1111/j.1934-6093.1999.tb00003.x]
The role of Euler parameters in robot control
SICILIANO, BRUNO;VILLANI, LUIGI
1999
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
