A Method for Calculating Angle-Axis Vector at Singular Points and a Proposal of Extended Angle-Axis Vector-Reference-Cited by-同舟云学术

A Method for Calculating Angle-Axis Vector at Singular Points and a Proposal of Extended Angle-Axis Vector

Published:2019 Issue:8 Volume:37 Page:726-734
ISSN:0289-1824
Container-title:Journal of the Robotics Society of Japan
language:en
Short-container-title:JRSJ

Author:

Sekiguchi Masanori¹,Takesue Naoyuki¹

Affiliation:

1. Graduate School of Systems Design, Tokyo Metropolitan University

Publisher

The Robotics Society of Japan

Link

https://www.jstage.jst.go.jp/article/jrsj/37/8/37_37_726/_pdf

Reference24 articles.

1. 1) O. Khatib: “A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation,” IEEE Journal on Robotics and Automation, vol.3, no.1, pp.43–53, 1987.

2. 3) J.L. Crassidis and F.L. Markley: “Attitude Estimation Using Modified Rodrigues Parameters,” Proc. of the Flight Mechanics/Estimation Theory Symposium, NASA-Goddard Space Flight Center, pp.71–83, 1996.

3. 4) C. Jizheng, Y. Jianping and F. Qun: “Flight Vehicle Attitude Determination Using the Modified Rodrigues Parameters,” Chinese Journal of Aeronautics, vol.21, no.5, pp.433–440, 2008.

4. 5) G. Terzakis, M. Lourakis and D.A. Boudaoud: “Modified Rodrigues Parameters: An Efficient Representation of Orientation in 3D Vision and Graphics,” Journal of Mathematical Imaging and Vision, vol.60, no.3, pp.422–442, 2018.

5. 6) M. Geradin and A. Cardona: “Kinematics and dynamics of rigid and flexible mechanisms using finite elements and quaternion algebra,” Computational Mechanics, vol.4, no.2, pp.115–135, 1988.

Cited by 4 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Anti-unwinding adaptive super-twisting attitude control for spacecraft;International Journal of Control;2023-04-24

2. Attitude tracking control for observation spacecraft flying around the target spacecraft;IET Control Theory & Applications;2021-06-28

3. Numerical method for inverse kinematics using an extended angle-axis vector to avoid deadlock caused by joint limits*;Advanced Robotics;2021-05-25

4. Fast and robust numerical method for inverse kinematics with prioritized multiple targets for redundant robots;Advanced Robotics;2020-06-22