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Rigid Body Motion Tracking Without Linear and Angular Velocity Feedback Using Dual Quaternions*
| Content Provider | CiteSeerX |
|---|---|
| Author | Filipe, Nuno Tsiotras, Panagiotis |
| Abstract | Abstract — This paper takes advantage of a new, recently proposed representation of the combined translational and ro-tational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position and attitude tracking controllers based on dual quaternions can be developed with relatively low effort from existing attitude-only tracking controllers based on quaternions. We show this by developing an almost globally asymptotically stable nonlinear controller capable of simultaneously following time-varying position and attitude profiles without linear and angular velocity feedback based on an existing attitude-only tracking controller without angular velocity feedback. I. |
| File Format | |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
