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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 orcid (2012) 10th International IFAC Symposium on Robot Control In IFAC Proceedings Volumes 45(22). 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
; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
10th IFAC Symposium on Robot Control
series title
IFAC Proceedings Volumes
volume
45
issue
22
edition
22
pages
6 pages
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
conference location
Dubrovnik, Croatia
conference dates
2012-09-05
external identifiers
  • scopus:84881010028
ISSN
1474-6670
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00074
project
RobotLab LTH
ROSETTA
ProFlexa
language
English
LU publication?
yes
additional info
key=SYROCO2012_stolt1
id
e686879f-476b-49fc-b037-a7dd42f76560 (old id 3127282)
date added to LUP
2016-04-01 13:23:45
date last changed
2024-01-24 09:50:22
@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.<br/>}},
  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}},
  number       = {{22}},
  pages        = {{549--554}},
  publisher    = {{IFAC}},
  series       = {{IFAC Proceedings Volumes}},
  title        = {{Robotic Assembly Using a Singularity-Free Orientation Representation Based on Quaternions}},
  url          = {{https://lup.lub.lu.se/search/files/3341879/3127293.pdf}},
  doi          = {{10.3182/20120905-3-HR-2030.00074}},
  volume       = {{45}},
  year         = {{2012}},
}