Experimental evaluation of task space regulators using unit quaternions on a direct-drive spherical wrist

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2002, Pages 4281-4286

  Garciá, Eloísa ^a   Kelly, Rafael ^a  

^a Adm 1   (Mexico)

Author keywords

Experimental evaluation; Regulation; Resolved acceleration; Robot control; Spherical wrist; Task space; Transpose Jacobian; Unit quaternions

Indexed keywords

ACCELERATION CONTROL; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; INVERSE KINEMATICS; LEAST SQUARES APPROXIMATIONS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; POSITION CONTROL; UNIVERSAL JOINTS;

DIRECT-DRIVE SPHERICAL WRIST; JOINT SPACE CONTROL; RESOLVED ACCELERATION; ROBOT CONTROL; TASK SPACE CONTROL; TASK SPACE REGULATORS; TRANSPOSE JACOBIAN; UNIT QUATERNIONS;

END EFFECTORS;

EID: 0036057315     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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