Task-space tracking control of redundant robot manipulators via quaternion feedback

In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and. adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer.