Kim, Sung-Kyun Bae, Ji-Hun Oh, Yonghwan Oh, Sang-Rok 2024-01-19T12:38:17Z 2024-01-19T12:38:17Z 2022-03-07 2011 1050-4729 https://pubs.kist.re.kr/handle/201004/115730 Redundant manipulator control usually brings about a lot of complexity. This paper proposes a quite simple approach for concurrent set-point regulation of position and orientation of a redundant manipulator using the virtual spring-damper hypothesis, which offers human-like movements without solving the inverse dynamics. For orientation, quaternion representation is applied to give singularity-free orientation control. Augmenting quaternion feedback to the state vector of the system, the stability is analytically proved, and dynamic simulation is conducted for validation of the method. Competition between position and orientation control is also briefly discussed based on the simulation results. English IEEE Concurrent Control of Position/Orientation of a Redundant Manipulator based on Virtual Spring-Damper Hypothesis Conference 1 IEEE International Conference on Robotics and Automation (ICRA) IEEE International Conference on Robotics and Automation (ICRA) US Shanghai, PEOPLES R CHINA 2011-05-09 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 000324383405046 2-s2.0-84863142397 Proceedings Paper