Autor:
Mazur, Alicja ; Szakiel, Dawid
Współtwórca:
Tytuł:
On path following control of nonholonomic mobile manipulators
Podtytuł:
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
mobile manipulator ; nonholonomic constraints ; path following ; Frenet parametrization
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
DOI:
Strony:
Źródło:
AMCS, volume 19, number 4 (2009) ; kliknij tutaj, żeby przejść