Mazur, Alicja ; Szakiel, Dawid
Contributor: Title:On path following control of nonholonomic mobile manipulators
Subtitle: Group publication title: Subject and Keywords: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.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 19, number 4 (2009) ; click here to follow the link
Language: License CC BY 4.0: Rights: