Tracking controller with vector field orientation for 3-D nonholonomic manipulator

Maciej Michałek; Krzysztof Kozłowski

doi:10.1109/ROMOCO.2004.240581

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Title

Tracking controller with vector field orientation for 3-D nonholonomic manipulator

Authors

Maciej Michałek ^{[ 1 ][ P ]}
Krzysztof Kozłowski ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2004

Chapter type

paper

Publication language

english

Abstract

EN The paper presents a proposition of the control design methodology for the nonholonomic manipulator (NHM3) with three links. The proposed control strategy results from the geometrical interpretation of a structure of the NHM3 kinematic model. The derived tracking control law for driftless NHM3 system exemplifies the described control design concept. Simulation results confirm the validity and effectiveness of the presented idea.

Pages (from - to)

181 - 189

DOI

10.1109/ROMOCO.2004.240581

URL

https://ieeexplore.ieee.org/document/1359506

Book

Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo 2004, Puszczykowo, Poland, June 17-20, 2004

Presented on

4th International Workshop on Robot Motion and Control, RoMoCo'04, 17-20.06.2004, Puszczykowo, Poland

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