Orientation of Doubly Nonholonomic Mobile Manipulator in the Path Tracking Problem

2011 ◽  
pp. 171-184 ◽  
Author(s):  
Alicja Mazur
Keyword(s):  
Path Tracking ◽  
Mobile Manipulator ◽  
Tracking Problem

Robust PID Tuning. Application to a Mobile Robot Path Tracking Problem

2000 ◽  
Vol 33 (4) ◽  
pp. 559-564
Author(s):  
Julio E. Normey-Rico ◽  
Ismael Alcalá ◽  
Juan Gómez-Ortega ◽  
Eduardo F. Camacho
Keyword(s):  
Mobile Robot ◽  
Path Tracking ◽  
Tracking Problem ◽  
Pid Tuning ◽  
Robot Path

Sequential Time-Optimal Algorithm for Extended Path Tracking Problem

2020 ◽  
Vol 142 (8) ◽  
Author(s):  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Degrees Of Freedom ◽  
Optimal Algorithm ◽  
Real Life ◽  
Path Tracking ◽  
Robotic Arm ◽  
Tracking Problem ◽  
Six Degrees Of Freedom ◽  
Time Optimal ◽  
Path Tracking Algorithm ◽  
Extended Path

Abstract This paper presents a fast and easily implementable path tracking algorithm for robots. Usually, for a path tracking problem, the goal is to move the robot on a predefined path, while the joint velocities and accelerations are kept within their limits. This paper deals with the extended case, constraining the forces applied to the objects at the manipulator. First, a problem with a special set of constraints is presented, and a sequential solver method is formulated. The presented sequential solver algorithm has significant computational benefits compared to the direct transcription approach. Then, a practical example is introduced where the proposed algorithm can be applied. At last, the algorithm is validated by real-life experimental results with a six degrees-of-freedom robotic arm.

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