By Topic

Task-space tracking control without velocity measurements

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Caccavale, F. ; Dipt. di Inf. e Sistemistica, Naples Univ., Italy ; Natale, C. ; Villani, L.

Focuses on the problem of tracking a desired end-effector position and orientation for a robot manipulator. A nonminimal parameterization of the orientation-the unit quaternion-is used to design the control law. Tracking control typically requires full-state measurements, i.e., end-effector position and orientation as well as linear and angular velocities. However, while position and orientation measurements are available, often velocities have to be estimated. In the paper, an observer-controller scheme is proposed which ensures tracking in the task space without using velocity measurements. The performance of the proposed scheme is evaluated both in simulation and through experimental tests on an industrial robot

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:1 )

Date of Conference:

1999