THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL

@inproceedings{Caccavale2008THERO,
  title={THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL},
  author={Fabrizio Caccavale and Bruno Siciliano and Luigi Villani},
  year={2008}
}
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… CONTINUE READING

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