Simulation study of PD robot Cartesian control

Shir-Kuan Lin*

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations


The author discusses the superiority of Euler parameters over other methods for representing the orientation error in PD (proportional-derivative) robot Cartesian control. A simulation study has been undertaken to investigate the convergent behavior of PD robot Cartesian control with Euler parameters. The control scheme requires large actuator forces for large orientation deviation. When the rotational angle of the orientation error approahces ±π, the required input actuator forces approach infinity, with the controller breaking down. A simple method for setting limitations on the orientation error and the velocity of the end-effector is introduced to overcome the singularity at ±π and the actuator force bounds. The simulation results support the proposed method.

Original languageEnglish
Number of pages6
StatePublished - 14 May 1989
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: 14 May 198919 May 1989


ConferenceIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA


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