<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.</p></abstract>

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

On path following control of nonholonomic mobile manipulators

Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

International Journal of Applied Mathematics and Computer Science

{"article-title":"On path following control of nonholonomic mobile manipulators"}

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade...

On path following control of nonholonomic mobile manipulators

Published Online: Dec 31, 2009

Page range: 561 - 574

DOI: https://doi.org/10.2478/v10006-009-0044-0

Keywords
mobile manipulator, nonholonomic constraints, path following, Frenet parametrization

This content is open access.

On path following control of nonholonomic mobile manipulators

Published Online: Dec 31, 2009

Page range: 561 - 574

DOI: https://doi.org/10.2478/v10006-009-0044-0

Keywordsmobile manipulator, nonholonomic constraints, path following, Frenet parametrization

This content is open access.

Keywords
mobile manipulator, nonholonomic constraints, path following, Frenet parametrization