On path following control of nonholonomic mobile manipulators

Alicja Mazur; Dawid Szakiel

International Journal of Applied Mathematics and Computer Science (2009)

  • Volume: 19, Issue: 4, page 561-574
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Alicja Mazur, and Dawid Szakiel. "On path following control of nonholonomic mobile manipulators." International Journal of Applied Mathematics and Computer Science 19.4 (2009): 561-574. <http://eudml.org/doc/207955>.

@article{AlicjaMazur2009,
abstract = {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.},
author = {Alicja Mazur, Dawid Szakiel},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {mobile manipulator; nonholonomic constraints; path following; Frenet parametrization},
language = {eng},
number = {4},
pages = {561-574},
title = {On path following control of nonholonomic mobile manipulators},
url = {http://eudml.org/doc/207955},
volume = {19},
year = {2009},
}

TY - JOUR
AU - Alicja Mazur
AU - Dawid Szakiel
TI - On path following control of nonholonomic mobile manipulators
JO - International Journal of Applied Mathematics and Computer Science
PY - 2009
VL - 19
IS - 4
SP - 561
EP - 574
AB - 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.
LA - eng
KW - mobile manipulator; nonholonomic constraints; path following; Frenet parametrization
UR - http://eudml.org/doc/207955
ER -

References

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