SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS

被引：0
|
作者：
Mazur, Alicja [1 ]
Roszkowska, Elzbieta [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, Ul Janiszewskiego 11-17, PL-50372 Wroclaw, Poland
来源：
ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2010年
关键词：
Mobile manipulator; Nonholonomic constraints; Path following; Frenet parametrization;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and an onboard manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sordalen. A task for any nonholonomic subsystem (i.e. nonholonomic platform or nonholonomic manipulator) is to follow a desired path some geometric curve parameterized by curvilinear distance from selected point. A description of the nonholonomic subsystem relative to the desired path using so-called Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.
引用
收藏
页码：15 / 21
页数：7
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