頁籤選單縮合
題名 | The Role of Euler Parameters in Robot Control= |
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作者 | Caccavale,Fabrizio; Siciliano,Bruno; Villani,Luigi; |
期刊 | Asian Journal of Control |
出版日期 | 19990300 |
卷期 | 1:1 1999.03[民88.03] |
頁次 | 頁25-34 |
分類號 | 448.94 |
語文 | eng |
關鍵詞 | Euler parameters; Robots; Kinematic control; Dynamic control; Impedance control; |
英文摘要 | 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. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。