Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping
نویسندگان
چکیده
منابع مشابه
Dual Quaternion
As we know, quaternions are very efficient for representing rotations with clear geometric meaning (rotation axis and angle) and only one redundancy. Unfortunately, they do not handle translations, which meanwhile can be made multiplicative along with rotations via the use of homogeneous coordinates. Despite also being 4-tuples, homogeneous coordinates are algebraically incompatible with quater...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.3010458