Following 3D paths by a manipulator

• Autorzy: Mazur A. , Płaskonka J. , Kaczmarek M.

Identyfikatory

DOI

10.1515/acsc-2015-0008

• Języki publikacji: EN

Abstrakty

EN

In the paper a description of a 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. For the path two different time parameterizations were chosen. The control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations were illustrated by simulation results.

Słowa kluczowe

EN

path following; Serret-Frenet parametrization; orthogonal projection

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2015
• Tom: Vol. 25, no. 1
• Strony: 117--133
• Opis fizyczny: Bibliogr. 10 poz., rys., schem., wykr., wzory

Twórcy

autor

Mazur A.

• Faculty of Electronics, Wrocław University of Technology, ul. Janiszewskiego 11/17

autor

Płaskonka J.

• Faculty of Electronics, Wrocław University of Technology, ul. Janiszewskiego 11/17

autor

Kaczmarek M.

• Faculty of Electronics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław

Bibliografia

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