Fig. 7
From: Stiff and safe task-space position and attitude controller for robotic manipulators
Results of Experiment II. The end-effector position \({\varvec{p}}_s\) and attitude \(\tilde{{\varvec{\alpha }}}_s\) and each joint torque during set-point controllers under cN4 and cSPIDwhere the desired trajectories DT are pointed in Fig. 6