A Memory-based SO(3) Parameterization: Theory and Application to 6D Impedance Control with Radially Unbounded Potential Function
Jinyeong Jeong,Hrishik Mishra,Christian Ott,Min Jun Kim,Jinyeong Jeong,Hrishik Mishra,Christian Ott,Min Jun Kim
This paper proposes a parameterization method to represent SO (3) over multiple turns. This method is called a memory-based parameterization, because the idea is to integrate the past trajectory of exponential coordinates. The parameterization is consistent in the sense that the true rotation matrix can be reconstructed by using the exponential map. As an application of the proposed method, a 6D i...
