The Role of Euler Parameters in Robot Control
نویسندگان
چکیده
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.
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