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

Stolt, Andreas LU ; Linderoth, Magnus LU ; Robertsson, Anders LU and Johansson, Rolf LU (2012) 10th International IFAC Symposium on Robot Control In 10th IFAC Symposium on Robot Control p.549-554
Abstract
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
10th IFAC Symposium on Robot Control
pages
549 - 554
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • scopus:84881010028
ISSN
1474-6670
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00074
project
ROSETTA
language
English
LU publication?
yes
id
e686879f-476b-49fc-b037-a7dd42f76560 (old id 3127282)
date added to LUP
2012-10-10 09:16:37
date last changed
2017-03-05 03:46:12
@inproceedings{e686879f-476b-49fc-b037-a7dd42f76560,
  abstract     = {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.},
  author       = {Stolt, Andreas and Linderoth, Magnus and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {10th IFAC Symposium on Robot Control},
  isbn         = {978-3-902823-11-3},
  issn         = {1474-6670},
  language     = {eng},
  pages        = {549--554},
  publisher    = {IFAC},
  title        = {Robotic Assembly Using a Singularity-Free Orientation Representation Based on Quaternions},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00074},
  year         = {2012},
}