三维非完整机械臂矢量场定向跟踪控制器

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240581

M. Michałek, K. Kozlowski

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引用次数: 8

摘要

提出了三连杆非完整机械手(NHM3)的控制设计方法。提出的控制策略源于对NHM3运动学模型结构的几何解释。所推导的无漂NHM3系统跟踪控制律是上述控制设计思想的实例。仿真结果验证了该方法的正确性和有效性。

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Tracking controller with vector field orientation for 3-D nonholonomic manipulator

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.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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