{"title":"非完整移动机械臂的路径跟踪","authors":"M. Cholewinski, A. Mazur","doi":"10.1109/RoMoCo.2019.8787375","DOIUrl":null,"url":null,"abstract":"Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.","PeriodicalId":415070,"journal":{"name":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Path Tracking by the Nonholonomic Mobile Manipulator\",\"authors\":\"M. Cholewinski, A. Mazur\",\"doi\":\"10.1109/RoMoCo.2019.8787375\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.\",\"PeriodicalId\":415070,\"journal\":{\"name\":\"2019 12th International Workshop on Robot Motion and Control (RoMoCo)\",\"volume\":\"27 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 12th International Workshop on Robot Motion and Control (RoMoCo)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RoMoCo.2019.8787375\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 12th International Workshop on Robot Motion and Control (RoMoCo)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RoMoCo.2019.8787375","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Path Tracking by the Nonholonomic Mobile Manipulator
Following paper present a description of a non-holonomic mobile manipulator relative to three-dimensional path. Path has been orthogonally parametrized to the Serret-Frenet frame moving along the curve. Control law for the RTR manipulator with fixed first joint, mounted on the unicycle platform, which realizes the path following has been presented. Mathematical solutions has been justified in simulation results.
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