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Experimental evaluation of task space regulators using unit quaternions on a direct-drive spherical wrist

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2 Author(s)
Garcia, E. ; Div. de Fisica Aplicada, CICESE, Ensenada, Mexico ; Kelly, R.

This paper presents an experimental evaluation of four regulators in task space using unit quaternions to represent the end-effector orientation. We address the problem of regulation, that is, when the desired pose is constant. We present experimental results of the following control schemes: the resolved acceleration control, damped resolved acceleration control, hybrid damped resolved acceleration control, and transpose Jacobian-based control. All the controllers are tested on a three degrees-of-freedom spherical wrist.

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Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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