7-DOF Redundant Manipulator Control using Quaternion Feedback based on Virtual Spring-Damper Hypothesis

Title
7-DOF Redundant Manipulator Control using Quaternion Feedback based on Virtual Spring-Damper Hypothesis
Authors
김성균배지훈오용환김도익
Keywords
Redundant Control; Quaternion; Virtual Spring-Damper Hypothesis
Issue Date
2010-10
Publisher
International Conference on Advanced Mechatronics 2010
Abstract
In this paper, redundant manipulator control method of position and orientation for human-like movements is investigated. For orientation control, singularity-free quaternion representation is applied, and computation of orientation error with coordinate transformation is inspected. Control law for set-point regulation of position/orientation is proposed, which is based on the virtual spring-damper hypothesis, and the stability is studied using a Lyapunov-like energy function. Dynamic simulation is conducted and analyzed for validation of the proposed method.
URI
http://pubs.kist.re.kr/handle/201004/38378
Appears in Collections:
KIST Publication > Conference Paper
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