On path following control of nonholonomic mobile manipulators

• Autorzy: Mazur A. , Szakiel D.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

mobile manipulator; nonholonomic constraints; path following; Frenet parametrization

PL

manipulator ruchomy; więzy nieholonomiczne; śledzenie ścieżki; parametryzacja Freneta

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2009
• Tom: Vol. 19, no 4
• Strony: 561--574
• Opis fizyczny: Bibliogr. 21 poz., rys., tab., wykr.

Twórcy

autor

Mazur A.

• Institute of Computer Engineering, Control and Robotics Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Szakiel D.

• Institute of Computer Engineering, Control and Robotics Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

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