Impedance posture control of robot manipulators using Euler parameters

Author

Yamakita, Masaki ; Jimura, Koji ; Furuta, Katsuhisa

Author_Institution

Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1964

Abstract

In the robotic literature the resolved acceleration control based on vector analysis is often used for both position and posture control. Since the posture or orientation is not a vector quantity, the simple difference of the vector value of the current posture and that of the desired posture does not have any physical meaning through the convergence of the error can be analyzed based on the difference locally. In this paper we introduce Euler parameters (quaternion or spinor) as a representation of the error of the orientation, and we apply the parametrization to an impedance control of the posture control of robot manipulators. The properties of the impedance are analyzed

Keywords

Jacobian matrices; manipulators; mechanical variables control; position control; Euler parameters; impedance posture control; manipulators; orientation; position control; robot; weighting matrix; Angular velocity control; Convergence; Error analysis; Error correction; Feedback control; Impedance; Manipulators; Orbital robotics; Robot control; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572867

Filename

572867