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Comparison of Curvilinear Parametrization Methods and Avoidance of Orthogonal Singularities in the Path Following Task Cover

Comparison of Curvilinear Parametrization Methods and Avoidance of Orthogonal Singularities in the Path Following Task

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 17 (2023): Issue 3 (September 2023)
By: Filip Dyba and  Alicja Mazur  
Open Access
|Mar 2024

Authors

Filip Dyba

filip.dyba@pwr.edu.pl

Department of Cybernetics and Robotics, Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Wrocław, Poland

Alicja Mazur

alicja.mazur@pwr.edu.pl

Department of Cybernetics and Robotics, Faculty of Electronics, Photonics and Microsystems, Wrocław University of Science and Technology, Wrocław, Poland
DOI: https://doi.org/10.14313/jamris/3-2023/22 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 46 - 64
Submitted on: Jan 8, 2023
Accepted on: Jun 6, 2023
Published on: Mar 4, 2024
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
Path following,
Serret–Frenet parametrization,
Bishop parametrization,
Orthogonal projection,
Backstepping algorithm,
Holonomic manipulator,
Singularity
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2024 Filip Dyba, Alicja Mazur, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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