Following 3D paths by a manipulator - adaptive case

• Autorzy: Mazur Alicja , Kaczmarek Mirela
• Języki publikacji: EN

Abstrakty

EN

This paper addresses the problem of following three-dimensional path by holonomic manipulator with parametric 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 control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations are supported by the results computer simulations.

Słowa kluczowe

EN

control algorithms; manipulator

PL

algorytmy sterowania; manipulator

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Prace Naukowe Politechniki Warszawskiej. Elektronika
• Rocznik: 2022
• Tom: z. 197, t. 1
• Strony: 45--58
• Opis fizyczny: Bibliogr. 9 poz., rys., wykr.

Twórcy

autor

Mazur Alicja

• Wrocław University of Science and Technology, Wrocław, Poland

autor

Kaczmarek Mirela

• University of Wrocław, Wrocław, Poland

Bibliografia

• 1. M. Galicki. Adaptive control of kinematically redundant manipulator along a prescribed geometric path. In Robot Motion and Control: Recent Developments, pages 129-139, Londyn, 2006. Springer.
• 2. M. Krstic, P. V. Kokotovic, and I. Kanellakopulos. Nonlinear and adaptive control design. John Wiley and Sons, New York, 1995.
• 3. A. Mazur. Hybrid adaptive control laws solving a path following problem for nonholonomic mobile manipulators. Int. Journal of Control, 77(15):1297-1306, 2004.
• 4. A. Mazur, J. Płaskonka, and M. Kaczmarek. Following 3D paths by a manipulator. Archives of control Science, 25(1):117-133, 2015.
• 5. A. Mazur and D. Szakiel. On path following control of nonholonomic mobile manipulators. Int. Journal of Applied Mathematics and Computer Science, 19(4):561-574, 2009.
• 6. A. Micaelli and C. Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. Technical report no. 2097, INRIA, Sophia-Antipolis, 1993.
• 7. J. Płaskonka. The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame. In Proc. Of the 17th Int. Conf. on Methods and Models in Automation and Robotics, pages 617-620a, 2012.
• 8. D. Soetanto, L. Lapierre, and A. Pascoal. Adaptive, non-singular path-following control of dynamic wheeled robots. In Proc. Of the 42nd IEEE Conference on Decision and Control, pages 1765-1770, Maui, Hawaii, USA, 2003.
• 9. N. van Duijkeren, R. Verschueren, G. Pipeleers, M. Diehl, and J. Swevers. Path-following nmpc for serial-link robot manipulators using a path-parametric system reformulation. In 2016 European Control Conference (ECC), 06 2016.

Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).