DocumentCode
2052245
Title
Euler parameters in robot Cartesian control
Author
Lin, Shir-Kuan
Author_Institution
Lehrstuhl fur Fertigungsautomatisierung und Produktionssyst., Erlangen-Nurnberg Univ., West Germany
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1676
Abstract
The difficult problem of orientating robot control in Cartesian space is solved by utilizing the Euler parameters for the first time. The complexity of the utilization of the approach is discussed in detail. A simple explicit algorithm is obtained, and its superiority over other methods is shown. The application of the Euler parameters to other control schemes for robots in Cartesian space is considered. It is expected that this approach will make the practical implementation of the Cartesian control strategies possible
Keywords
computational complexity; position control; robots; Cartesian control; Euler parameters; computational complexity; position control; robot; Algebra; Angular velocity control; Convergence; Error correction; Kinematics; Orbital robotics; PD control; Position control; Quaternions; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12307
Filename
12307
Link To Document