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

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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

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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,

Related subjects:

Computer sciences,

Artificial intelligence,

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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