Task-space tracking control of redundant robot manipulators via quaternion feedback

B. Xian; M. S. De Queiroz; D. Dawson; I. Walker

Task-space tracking control of redundant robot manipulators via quaternion feedback

B. Xian
, M. S. De Queiroz
, D. Dawson
, I. Walker

Research output: Contribution to conference › Paper › peer-review

14 Scopus citations

Abstract

In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.

Original language	English
Pages	363-368
Number of pages	6
State	Published - 2001
Externally published	Yes
Event	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 - Mexico City, Mexico Duration: Sep 5 2001 → Sep 7 2001

Conference

Conference	Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01
Country/Territory	Mexico
City	Mexico City
Period	09/5/01 → 09/7/01

Cite this

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title = "Task-space tracking control of redundant robot manipulators via quaternion feedback",

abstract = "In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.",

author = "B. Xian and \{De Queiroz\}, \{M. S.\} and D. Dawson and I. Walker",

year = "2001",

language = "English",

pages = "363--368",

note = "Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01 ; Conference date: 05-09-2001 Through 07-09-2001",

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TY - CONF

T1 - Task-space tracking control of redundant robot manipulators via quaternion feedback

AU - Xian, B.

AU - De Queiroz, M. S.

AU - Dawson, D.

AU - Walker, I.

PY - 2001

Y1 - 2001

N2 - In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.

AB - In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.

UR - https://www.scopus.com/pages/publications/0035692373

M3 - Paper

AN - SCOPUS:0035692373

SP - 363

EP - 368

T2 - Proceedings of the 2001 IEEE International Conference on Control Applications CCA '01

Y2 - 5 September 2001 through 7 September 2001

ER -

Task-space tracking control of redundant robot manipulators via quaternion feedback

Abstract

Conference

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