Fig. 5From: Stiff and safe task-space position and attitude controller for robotic manipulatorsResults of Experiment I. The end-effector position \({\varvec{p}}_s\) and attitude \(\tilde{{\varvec{\alpha }}}_s\) and each joint torque during set-point controllers under cN1, cN2, cN3 and cN4where DT is desired trajectories, which are pointed in Fig. 4Back to article page