Task-space tracking control of robot manipulators via quaternion feedback

IEEE Transactions on Robotics and Automation

Volumn 20, Issue 1, 2004, Pages 160-167

  Xian, B ^a   De Queiroz, M S ^b   Dawson, D ^a   Walker, I ^a  

^a AMRL   (United States)

^b LOUISIANA STATE UNIVERSITY   (United States)

Author keywords

Lyapunov; Output feedback control; Quaternion; Robot manipulator; Task space control

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; END EFFECTORS; FEEDBACK CONTROL; MOTION CONTROL; POSITION CONTROL; STATE FEEDBACK;

ADAPTIVE FULL-STATE FEEDBACK CONTROLLER; QUATERNION FEEDBACK; TASK-SPACE TRACKING CONTROL;

MANIPULATORS;

EID: 1542286003     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.820932     Document Type: Article

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