Temat: Serret-Frenet parametrization - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Following 3D paths by a manipulator
Autorzy:: Mazur, A.
Płaskonka, J.
Kaczmarek, M.
Powiązania:: https://bibliotekanauki.pl/articles/230073.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: path following
Serret-Frenet parametrization
orthogonal projection
Opis:: In the paper a description of a manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame which is moving along the curve. For the path two different time parameterizations were chosen. The control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations were illustrated by simulation results.
Źródło:: Archives of Control Sciences; 2015, 25, 1; 117-133
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: The non-orthogonal Serret-Frenet parametrization applied to the path following problem of a manipulator with partially known dynamics
Autorzy:: Mazur, Alicja
Dyba, Filip
Powiązania:: https://bibliotekanauki.pl/articles/27312013.pdf
Data publikacji:: 2023
Wydawca:: Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:: backstepping integrator algorithm
holonomic manipulator
non-orthogonal projection
path following
Serret-Frenet parametrization
Opis:: In this paper an application of the Serret-Frenet parametrization of a curve to the path following task is presented. This curvilinear parametrization method is used to obtain a control object description relative to the desired curve defined in the three-dimensional space. In order to derive proper equations, the innovative approach of the non-orthogonal projection of a control object on the given path is investigated. The non-orthogonal projection allows to design a global control algorithm. The proposed solution results in a cascade structure of the control system. Thus, the backstepping integrator algorithm was applied to create a control law. Due to the partial knowledge of control object dynamic parameters, an adaptive algorithm is taken into account. Theoretical considerations are confirmed with simulation study. Conducted simulations illustrated following paths at different levels of complexity by a holonomic non-redundant manipulator with a fixed base.
Źródło:: Archives of Control Sciences; 2023, 33, 2; 339--370
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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