Abstract
In this paper, redundant manipulator control method of position and orientation for human-like movements is investigated. For orientation control, singularity-free quaternion representation is applied, and computation of orientation error with coordinate transformation is inspected. Control law for set-point regulation of position/orientation is proposed, which is based on the virtual spring-damper hypothesis, and the stability is studied using a Lyapunov-like energy function. Dynamic simulation is conducted and analyzed for validation of the proposed method.
