“…Later in the same decade, the works of control using dual quaternions appeared as kinematic control [78]. After that, the number of works in this area increased rapidly, featuring dual quaternion PID [79], kinematic control [24,80,81], feedback linearization [82][83][84][85][86], model predictive control [69,87,88], adaptive control [47,89] (ref. [90] used adaptive control to perform kinematic-model-free control, in which no previous knowledge of the kinematic model or even joint variables is required to move the end-effector to the desired pose), sliding modes [91,92], H ∞ [46] and backstepping [93,94].…”