<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Wrocław University of Science and Technology

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator"}

This paper addresses the problem of the following three-dimensional path by holonomic manipulator with parametric or structural uncertainty in the dynamics....

Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Online veröffentlicht: 04. März 2024

Seitenbereich: 65 - 77

Eingereicht: 28. März 2023

Akzeptiert: 31. Juli 2023

DOI: https://doi.org/10.14313/jamris/3-2023/23

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

© 2023 Alicja Mazur et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Online veröffentlicht: 04. März 2024

Seitenbereich: 65 - 77

Eingereicht: 28. März 2023

Akzeptiert: 31. Juli 2023

DOI: https://doi.org/10.14313/jamris/3-2023/23

SchlüsselwörterPath following, Serret–Frenet parametrization, Orthogonal projection, Backstepping algorithm, Holonomic manipulator

© 2023 Alicja Mazur et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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