Title :
Path following control algorithm for planar holonomic N-link manipulators using non-singular path parametrization
Author :
Plaskonka, Joanna
Author_Institution :
Electron. Fac., Dept. of Cybern. & Robot., Wroclaw Univ. of Technol., Wroclaw, Poland
Abstract :
In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. The path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. The new control algorithm for N-link manipulators is proposed. The effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.
Keywords :
manipulators; path planning; Serret-Frenet frame; computer simulations; nonorthogonal projection; nonsingular path parametrization; path following control algorithm; planar holonomic N-link manipulator; planar three-link manipulator; Equations; Manipulator dynamics; Mathematical model; Robot kinematics; Transmission line matrix methods;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957354
