Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Alicja Mazur; Mirela Kaczmarek

doi:10.14313/jamris/3-2023/23

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Adaptive and Robust Following of 3D Paths by a Holonomic Manipulator

Journal of Automation, Mobile Robotics and Intelligent Systems

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

By: Alicja Mazur and Mirela Kaczmarek

Open Access

|Mar 2024

Abstract

This paper addresses the problem of the following three-dimensional path by holonomic manipulator with parametric or structural uncertainty in the dynamics. Description of the manipulator relative to a desired threedimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame, which is moving along the curve. The adaptive and robust control laws for a stationary manipulator which ensures realization of the task were specified. Theoretical considerations are supported by the results of computer simulations conducted for an RTR manipulator.

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Articles in this issue

DOI: https://doi.org/10.14313/jamris/3-2023/23 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649

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Language: English

Page range: 65 - 77

Submitted on: Mar 28, 2023

Accepted on: Jul 31, 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,

Orthogonal projection,

Backstepping algorithm,

Holonomic manipulator

Related subjects:

Computer sciences,

Artificial intelligence,

Engineering,

Electrical engineering,

Control engineering, metrology and testing,

Mechanical engineering,

Fundamentals of mechanical engineering

© 2024 Alicja Mazur, Mirela Kaczmarek, 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)