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• W2068088498 abstract "Euler parameters constitute a well-known nonminimal singularity-free representation of rigid body orientation. This paper is aimed at illustrating the role of Euler parameters in robot control; namely, the kinematic control, dynamic control and impedance control problems are surveyed in a unifying perspective, where robot's end-effector orientation displacements are described in terms of Euler parameters. The advantages over the Euler angles typically used in the operational space framework are demonstrated." @default.
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• W2068088498 date "2008-10-22" @default.
• W2068088498 modified "2023-10-15" @default.
• W2068088498 title "THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL" @default.
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• W2068088498 doi "https://doi.org/10.1111/j.1934-6093.1999.tb00003.x" @default.
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