Closed-loop manipulator control using quaternion feedback
作者： J.S. Yuan
DOI: 10.1109/56.809
关键词: Orientation (geometry) 、 Euler angles 、 Quaternion 、 Rotation (mathematics) 、 Control theory 、 Conversion between quaternions and Euler angles 、 Versor 、 Mathematical analysis 、 Mathematics 、 Quaternions and spatial rotation 、 Euler's rotation theorem
摘要: … the context of closedloop manipulator control since the position and orientation errors of the hand are used explicitly in the feedback loop. When the manipulator is controlled in its joint …
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