THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL

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.