Fig. 6From: Stiff and safe task-space position and attitude controller for robotic manipulatorsSituations of Experiment II. a Configuration D (\({\varvec{p}}_d=[0.3, 0.01, 0.5]^T\mathrm {m}\), \(\tilde{{\varvec{\alpha }}}_d=[0.592, 0.449, 0.296]^T\)). b Configuration E (\({\varvec{p}}_d=[0.36, 0.06, 0.4]^T\mathrm {m}\), \(\tilde{{\varvec{\alpha }}}_d=[0.178, 0.711, 0.088]^T\))Back to article page