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ON TRANSPOSE JACOBIAN-BASED REGULATORS USING UNIT QUATERNIONS: AN ENERGY SHAPING APPROACH
Rafael Kelly Eloísa García
División de Fisica Aplicada, CICESE, Apdo. Postal 2615 Adm. 1
Ensenada, B.C., 22800
MEXICO
e-mail: rkelly@cicese.mx, fax: +52 (646) 1-75-05-54
The regulation of end-effector pose of manipulators is addressed in this paper. Regarding non-redundant manipulators, we present an extension of transpose Jacobian-based regulators obtained by energy shaping, where orientation is represented by unit quaternions.
Keywords: Robot control, Transpose Jacobian control, Regulation, Euler parameters, Unit quaternion, Stability, Energy shaping
Session slot T-Mo-A14: Robot Controllers/Area code 1d : Robotics
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