scientific article; zbMATH DE number 1399895

MaRDI QIDQ4939503zbMATH OpenFDO

Authors Stefano Chiaverini, Bruno Siciliano

Publication date 25 January 2001

zbMATH Keywords

closed-loop inverse kinematics algorithmindustrial robot manipulatorJacobianLyapunov stabilityrepresentation singularitiesunit quaternion

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

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(4)

• Attitude pointing control of manipulator based on quaternion
• Dual matrix and biquaternion methods of solving direct and inverse kinematics problems of manipulators for example Stanford robot arm. II.
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