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THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL
Author(s) -
Caccavale Fabrizio,
Siciliano Bruno,
Villani Luigi
Publication year - 1999
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.1999.tb00003.x
Subject(s) - euler angles , euler's formula , impedance control , orientation (vector space) , kinematics , control theory (sociology) , singularity , representation (politics) , perspective (graphical) , computer science , robot end effector , robot , control (management) , mathematics , artificial intelligence , mathematical analysis , physics , geometry , classical mechanics , politics , political science , law
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.