About this article
Published Online: Mar 04, 2024
Page range: 65 - 77
Received: Mar 28, 2023
Accepted: Jul 31, 2023
DOI: https://doi.org/10.14313/jamris/3-2023/23
Keywords
© 2023 Alicja Mazur et al., published by Sciendo
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
This paper addresses the problem of the following three-dimensional path by holonomic manipulator with parametric or structural uncertainty in the dynamics. Description of the manipulator relative to a desired threedimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame, which is moving along the curve. The adaptive and robust control laws for a stationary manipulator which ensures realization of the task were specified. Theoretical considerations are supported by the results of computer simulations conducted for an RTR manipulator.