Resolved-acceleration control of robot manipulators: A critical review with experiments

摘要

The goal of this paper is to provide a critical review of the well-known resolved-acceleration technique for the tracking control problem of robot manipulators in the task space. Various control schemes are surveyed and classified accord- Ing to the type of end-effector orientation error; namely, Those based on Euler angles feedback, quaternion feedback, And angle/axis feedback. In addition to the assessed Schemes in the literature, an alternative Euler angles Feedback scheme is proposed which shows an advantage in Terms of avoidance of representation singularities.