非完整移动机械臂的路径跟踪

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-01 DOI:10.1109/RoMoCo.2019.8787375

M. Cholewinski, A. Mazur

{"title":"非完整移动机械臂的路径跟踪","authors":"M. Cholewinski, A. Mazur","doi":"10.1109/RoMoCo.2019.8787375","DOIUrl":null,"url":null,"abstract":"Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Path Tracking by the Nonholonomic Mobile Manipulator\",\"authors\":\"M. Cholewinski, A. Mazur\",\"doi\":\"10.1109/RoMoCo.2019.8787375\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.\",\"PeriodicalId\":415070,\"journal\":{\"name\":\"2019 12th International Workshop on Robot Motion and Control (RoMoCo)\",\"volume\":\"27 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 12th International Workshop on Robot Motion and Control (RoMoCo)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RoMoCo.2019.8787375\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RoMoCo.2019.8787375","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

本文描述了一种相对于三维路径的非完整移动机械臂。路径已被正交参数化为沿曲线运动的Serret-Frenet框架。提出了安装在独轮车平台上的固定第一关节RTR机械手的控制规律，实现了该机械手的轨迹跟踪。仿真结果证明了数学解的正确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Path Tracking by the Nonholonomic Mobile Manipulator

Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 12th International Workshop on Robot Motion and Control (RoMoCo)

自引率

0.00%

发文量