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

Publicado en línea: 04 mar 2024

Páginas: 46 - 64

Recibido: 08 ene 2023

Aceptado: 06 jun 2023

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

Palabras clave

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

© 2023 Filip Dyba et al., published by Sciendo

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