Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators

Mazur, Alicja

doi:10.1080/0020717042000297162

Cited by 32 publications

(37 citation statements)

References 16 publications

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“…If we want to express the position of the point M not in the classical Cartesian coordinates (x, y) relative to the inertial frame but relative to the given path P , we should use some geometric relationships (Mazur, 2004),…”

Section: Control Problem Statementmentioning

confidence: 99%

“…Sometimes, it is important to move the platform and simultaneously unload a payload-such a task is defined relative to the base of the manipulator mounted on the platform (a definition relative to the end-effector is ill conditioned). In such a situation the decomposition of the task into tasks defined separately for both subsystems is more natural and convenient (Mazur, 2004).…”

Section: Introductionmentioning

confidence: 99%

“…In the present paper, we define a path following problem for the mobile manipulator in a different way, see (Mazur, 2004). The desired task is decomposed into two separate subtasks defined for each subsystem independently: the end-effector has to follow a desired geometric path described relative to the base of the robotic arm (i.e., relative to the platform), and the task of the platform is to follow a desired curve lying on a plane.…”

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confidence: 99%

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On path following control of nonholonomic mobile manipulators

Mazur¹,

Szakiel²

2009

International Journal of Applied Mathematics and Computer Science

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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.

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Section: Control Problem Statementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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On path following control of nonholonomic mobile manipulators

Mazur¹,

Szakiel²

2009

International Journal of Applied Mathematics and Computer Science

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“…one presented in [10]. However a generality of the proposed algorithm was achieved at the expense of the occurence of an undesirable chattering phenomenon.…”

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confidence: 99%

Different Kinematic Path Following Controllers for a Wheeled Mobile Robot of (2,0) Type

Płaskonka

2013

J Intell Robot Syst

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In the paper a comparative study of selected kinematic path following controllers for a wheeled mobile robot of (2,0) type has been presented. The control strategies are based on one of two approaches to the path parameterizationeither the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a non-orthogonal projection of a robot on the desired path. The complete control system for the wheeled mobile robot consists of two parts, a kinematic controller and a dynamic controller, because of a presence of nonholonomic constraints. The behaviour of the presented algorithms is demonstrated through computer simulations.

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“…curve parameterized by curvilinear distance, has been considered. In literature path tracking task has been discussed many times, for instance for mobile platforms [8,9,10], for fixed-base manipulators [3] and mobile manipulators [6,7]. The similar task was defined also for more complex robotic objects, such as autonomic underwater vehicles [2] and flying robots [1].…”

Section: Introductionmentioning

confidence: 99%

Following 3D paths by a manipulator

Mazur¹,

Płaskonka²,

Kaczmarek³

2015

Archives of Control Sciences

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In the paper a description of a 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. For the path two different time parameterizations were chosen. The control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations were illustrated by simulation results.

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Hybrid adaptive control laws solving a path following problem for non-holonomic mobile manipulators

Cited by 32 publications

References 16 publications

On path following control of nonholonomic mobile manipulators

On path following control of nonholonomic mobile manipulators

Different Kinematic Path Following Controllers for a Wheeled Mobile Robot of (2,0) Type

Following 3D paths by a manipulator

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