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Finite-time orientation control of robot manipulators via homogeneous approximation

In this paper, we propose a nonlinear continuous finite-time controller for end-effector orientation control of robot manipulators. We parametrize the orientation by unit quaternion and design quaternion-based state feedback controller. We prove that the proposed controller guarantee the finite-time stability by using homogeneous approximation of the closed-loop system. The effectiveness of the proposed controller is confirmed by experiments.