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

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

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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.

Volume 17 (2023): Issue 3 (September 2023)