Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour

This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach