IEEE - Institute of Electrical and Electronics Engineers, Inc. - Task-space tracking control of redundant robot manipulators via quaternion feedback

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01)

Author(s): B. Xian ; M.S. de Queiroz ; D. Dawson ; I. Walker
Sponsor(s): IEEE Control Syst. Soc
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2001
Conference Location: Mexico City, Mexico, Mexico
Conference Date: 7 September 2001
Page Count: 6
Page(s): 363 - 368
ISBN (Paper): 0-7803-6733-2
DOI: 10.1109/CCA.2001.973892
Regular:

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... View More

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