Temat: path following - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: Adaptive and robust following of 3D paths by holonomic manipulator
Autorzy:: Mazur, Alicja
Kaczmarek, Mirela
Tematy:: path following
Serret-Frenet parametrization
orthogonal projection
backstepping algorithm
holonomic manipulator; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/59115488.pdf Link otwiera się w nowym oknie
Opis:: 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 three-dimensional 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.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Comparison of curvilinear parametrization methods and avoidance of orthogonal singularities in the path following task
Autorzy:: Dyba, Filip
Mazur, Alicja
Tematy:: path following
Serret-Frenet parametrization
Bishop parametrization
orthogonal projection
backstepping algorithm
holonomic manipulator
singularity; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/59115484.pdf Link otwiera się w nowym oknie
Opis:: In this paper applications of curvilinear parametrizations (Serret–Frenet, Bishop) in the path following task have been considered. The parametrizations allow one to derive manipulator’s equations with respect to a path. The full mathematical model of the path following task involves two groups of equations, i.e., the dynamics of the manipulator and the equations obtained from the parametrization method, connected in the cascaded system. Based on those relations two path following algorithms have been designed according to the backstepping integrator method (dedicated to the cascaded systems). Depending on the chosen parametrization method the algorithms differ in requirements and performance. In the paper an in-depth analysis comparing features of both considered methods has been presented. The parametric description of a path requires projection of a robot on the path. In this article the orthogonal projection has been taken into account. It introduces a singularity in the robot description. We have proposed a new form of the orthogonal projection constraint which allows a robot to not only approach the path, but also move along it. This novelty design is an important enhancement of the algorithms used so far. The problem of partially known dynamic parameters of a robot has also been addressed. In this paper, we have shown how to apply an adaptive controller to the path following task. Theoretical considerations have been verified with a simulation study conducted for a holonomic stationary manipulator. Achieved results emphasized why it is strongly recommended to use the algorithm version with the orthogonal singularity outside the path. Moreover, the comparative analysis results may be used to select the best curvilinear parametrization method according to the considered task requirements.
Dostawca treści:: Biblioteka Nauki

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