DocumentCode
154334
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
fYear
2014
fDate
2-5 Sept. 2014
Firstpage
216
Lastpage
220
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MMAR.2014.6957354
Filename
6957354
Link To Document