Published December 7, 2019
| Version v1
Technical note
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Task-Space Impedance Controller Using Dual Quaternion Logarithm
- 1. Universidade Federal de Minas Gerais
- 2. Université de Montpellier
Description
This paper proposes a task-space impedance controller using the dual quaternion logarithm, combining the translation and rotation impedance in a single mathematical structure. The controller is composed of an outer loop impedance controller to impose a desired apparent impedance to the robot and an inner motion control loop to ensure trajectory tracking of the end-effector pose. Experiments showing the effectiveness of the controller were run on a KUKA LWR4+ robot with a force/torque sensor in the end-effector.
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ws-icar2019-FonsecaAdornoFraisse.pdf
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