Task-space tracking control of redundant robot manipulators viaquaternion feedback

摘要

In this paper, we consider the problem of task-space trackingcontrol of redundant robot manipulators. Based on a quaternionrepresentation of the end-effector orientation, we design a class oftask-space controllers that ensure asymptotic end-effector position andorientation tracking. To facilitate the control design, we first developmodel-based and. adaptive full-state feedback controllers. We thenpresent a model-based output feedback controller that eliminates linkvelocity measurements via a model-based observer