Comparison of Curvilinear Parametrization Methods and Avoidance of Orthogonal Singularities in the Path Following Task

Published Online: Mar 04, 2024

Page range: 46 - 64

Received: Jan 08, 2023

Accepted: Jun 06, 2023

DOI: https://doi.org/10.14313/jamris/3-2023/22

Keywords

Path following, Serret–Frenet parametrization, Bishop parametrization, Orthogonal projection, Backstepping algorithm, Holonomic manipulator, Singularity

© 2023 Filip Dyba et al., published by Sciendo

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