Meny

Du är här

Robotic Assembly Using a Singularity-Free Orientation Representation Based on Quaternions

Författare:
Publiceringsår: 2012
Språk: Engelska
Sidor: 6
Dokumenttyp: Konferensbidrag
Ytterligare information: Key=SYROCO2012_stolt1

Sammanfattning

New robotic applications often require physical interaction between the robot and its environment. To this purpose, external sensors might be needed, as well as a suitable way to specify the tasks. One complication that might cause problems in the task execution is orientation representation singularities. In this paper quaternions are used as a singularity-free orientation representation within the constraint-based task specification framework. The approach is experimentally verified in a force controlled assembly task. The task chosen contains a redundant degree of freedom that is exploited using the constraint-based task specification framework.

Disputation

Nyckelord

  • Technology and Engineering

Övriga

10th International IFAC Symposium on Robot Control
2012-09-05
Dubrovnik, Croatia
Published
  • ROSETTA
Yes
  • LCCC

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen