Adaptive and Robust Following of 3D Paths by Holonomic Manipulator

Abstract

This paper addresses the problem of following three‐ dimensional path by holonomic manipulator with para‐ metric or structural uncertainty in the dynamics. De‐ scription of the manipulator relative to a desired three‐ dimensional path was presented. The path is parame‐ terized orthogonally to the Serret‐Frenet frame which is moving along the curve. The adaptive and robust control laws for stationary manipulator which ensures realiza‐ tion of the task were specified. Theoretical considerations are supported by the results of computer simulations con‐ ducted for RTR manipulator.