Title :
Tracking controller with vector field orientation for 3-D nonholonomic manipulator
Author :
Michalek, Maciej ; Kozlowski, Krzysztof
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
The paper presents a proposition of the control design methodology for the nonholonomic manipulator (NHM3) with three links. The proposed control strategy results from the geometrical interpretation of a structure of the NHM3 kinematic model. The derived tracking control law for driftless NHM3 system exemplifies the described control design concept. Simulation results confirm the validity and effectiveness of the presented idea.
Keywords :
control system synthesis; manipulator kinematics; tracking; 3D nonholonomic manipulator; NHM3 kinematic model; control design methodology; tracking controller; vector field orientation; Control design; Control systems; Feedback control; Gears; Kinematics; Manipulator dynamics; Mobile robots; Orbital robotics; Velocity control; Wheels;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240581
