Adaptive and robust following of 3D paths by holonomic manipulator

• Autorzy: Mazur Alicja , Kaczmarek Mirela

Identyfikatory

DOI

10.14313/JAMRIS/3‐2023/23

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

path following; Serret-Frenet parametrization; orthogonal projection; backstepping algorithm; holonomic manipulator

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2023
• Tom: Vol. 17, No. 3
• Strony: 65--77
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Mazur Alicja

• Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Janiszewskiego St. 11/17, 50-372 Wrocław, Poland

autor

Kaczmarek Mirela

• Department of Physics and Astronomy, Institute of Experimental Physics, University of Wrocław, Max Born Square 9, 50-204 Wrocław, Poland

Bibliografia

• [1] F. Dyba, and A. Mazur. “Comparison of curvi-linear parametrizations methods and avoidance of orthogonal singularities in the path following task,” Journal of Automation, Mobile Robotics and Intelligent Systems, 2023, accepted for publication.
• [2] M. Galicki. “Adaptive control of kinematically redundant manipulator along a prescribed geometric path,” Robot Motion and Control. Lecture Notes in Control and Information Sciences, vol. 335, Springer, London, 2006, pp. 129–139.
• [3] N. Hung, F. Rego, J. Quintas, J. Cruz, M. Jacinto, D. Souto, A. Potes, L. Sebastiao, and A. Pascoal. “A review of path following control strategies for autonomous robotic vehicles: Theory, simulations, and experiments,”Journal of Field Robotics, vol. 40(3), 2023, pp. 747–779.
• [4] M. Krstić, I. Kanellakopoulos, and P. V. Kokotovic. Nonlinear and Adaptive Control Design, John Wiley & Sons, Inc.: New York, USA, 1995.
• [5] A. Mazur, and M. Kaczmarek. “Following 3D Paths by a manipulator - adaptive case,” A. Mazur and C. Zieliński, editors, Advances in Robotics (in Polish), vol. 1, 2022, pp. 45–58.
• [6] A. Mazur. “Hybrid adaptive control laws solving a path following problem for nonholonomic mobile manipulators,” Int. Journal of Control, vol. 77(15), 2004, pp. 1297-1306.
• [7] A. Mazur, J. Płaskonka, and M. Kaczmarek. “Following 3D paths by a manipulator,” Archives of Control Sciences, vol. 25(1), 2015, pp. 117-133; doi: 10.1515/acsc‐2015‐0008.
• [8] A. Mazur, and D. Szakiel. “On path following control of nonholonomic mobile manipulators,”International Journal of Applied Mathematics and Computer Science, vol. 19(4), 2009, pp. 561–574.
• [9] A. Micaelli, and C. Samson. “Trajectory tracking for unicycle-type and two-steering‐wheels mobile robots,” Technical Report No. 2097, Sophia-Antipolis, 1993.
• [10] J. Płaskonka. “Different kinematic path following controllers for a wheeled mobile robot of (2,0) type,”Journal of Intelligent & Robotic Systems, vol. 77, 2013, pp. 481-498; doi: 10.1007/s10846-013‐9879‐6.
• [11] D. Soetanto, L. Lapierre, and A. Pascoal. “Adaptive, non‐singular path‐following control of dynamic wheeled robots,” Proceedings of the IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2003, pp. 1765–1770; doi: 10.1109/CDC.2003.1272868.
• [12] K. Tchoń, A. Mazur, I. Dulęba, R. Hossa, and R. Muszyński. Manipulators and Mobile Robots: Models, Motion Planning, Control (in Polish), Academic Publishing House PLJ: Warsaw, 2000.
• [13] V. Utkin, J. Guldner, and J. Shi. Sliding Mode Control in Electro-mechanical Systems, CRC Press, 1999.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).