Reducing a class of polygonal path tracking to straight line tracking via nonlinear strip-wise affine transformation

2008 ◽  
Vol 79 (2) ◽  
pp. 133-148 ◽  
Author(s):  
George Moustris ◽  
Spyros G. Tzafestas
Keyword(s):  
Affine Transformation ◽  
Path Tracking ◽  
Polygonal Path ◽  
Straight Line ◽  
Line Tracking

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2017 ◽  
pp. 314-327
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

scholarly journals Optimal Trajectories for Flexible-Link Manipulator Slewing Using Recursive Quadratic Programming: Experimental Verification

1997 ◽  
Vol 119 (4) ◽  
pp. 833-836 ◽  
Author(s):  
G. G. Parker ◽  
G. R. Eisler ◽  
R. D. Robinett ◽  
J. T. Feddema
Keyword(s):  
Experimental Verification ◽  
Tracking Error ◽  
Minimum Time ◽  
Flexible Link ◽  
Flexible Robot ◽  
Joint Angles ◽  
Actuator Dynamics ◽  
Straight Line ◽  
Servo Actuator ◽  
Line Tracking

Experimental verification of minimum time, straight-line tracking using a two-link planar flexible robot is presented. Previously reported minimum-time angle histories are precompensated to account for joint servo-actuator dynamics. Using the precompensated joint commands, the optimal joint angles are tracked with such fidelity that the tip tracking error is less than 1.8 percent of the tip travel distance.

Toward a Taxonomy of Automobile Driving: I. Tracking

1966 ◽  
Vol 22 (3) ◽  
pp. 759-762 ◽  
Author(s):  
Nathaniel J. Ehrlich
Keyword(s):  
Mathematical Biophysics ◽  
Automobile Driving ◽  
Tracking Task ◽  
Constant Speed ◽  
The Other ◽  
Tracking Performance ◽  
Error Feedback ◽  
Public Road ◽  
Straight Line ◽  
Line Tracking

An experiment was conducted to explore the characteristics of straight line tracking performance in automobile driving. Two Ss were used in driving an automobile on a public road at 50, 60, 70, and 80 mph. Photographic records were made of the track of the automobile while the drivers were instructed simply to “drive as straight as possible” at a constant speed. An analysis of the tracking records indicates that different strategies were being employed by the two drivers. One corresponded to the mathematical biophysics formulation of Rashevsky (avoidance of lateral boundaries) while the other operated under the more familiar psychological laboratory tracking task (direct error-feedback). The experiment is an exploratory effort in the microcharacteristics of automobile driving.

Design of Strait-Line Tracking Controller of Under-Actuated USV Based on Back-Stepping Method and Feedback Compensation

2011 ◽  
Vol 48-49 ◽  
pp. 391-396
Author(s):  
Yu Long Ma ◽  
Jian Da Han ◽  
Yu Qing He
Keyword(s):  
High Performance ◽  
Mobile Robotics ◽  
Path Following ◽  
Main Research ◽  
Path Following Control ◽  
Straight Line ◽  
Feedback Compensation ◽  
Line Tracking ◽  
Line Path ◽  
Yaw Angle

Unmanned surface vehicle (USV) system has been one of main research directions in mobile robotics because it can be used in many situations. However, high performance path following control, especially straight line tracking control, has been one of the difficult problems in autonomous control of USV system. In this paper, we propose a new straight line path following control algorithm by combining yaw angle feedback and back-stepping technique and show its closed loop stability. The most absorbing advantage of the proposed controller is that it not only reserve the good performance of back-stepping controller but also bring much faster convergent rate, which is very important in real applications. The simulation results with respect to a training ship model have shown the feasibility and validity of the proposed method.

Straight-Line Tracking Control of an Agricultural Vehicle with Finite-Time Control Technique

2015 ◽  
Vol 17 (6) ◽  
pp. 2218-2228 ◽  
Author(s):  
Yuexia Jiang ◽  
Shihong Ding ◽  
Dean Zhao ◽  
Wei Ji
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Control Technique ◽  
Time Control ◽  
Straight Line ◽  
Line Tracking ◽  
Agricultural Vehicle

Development of Path Tracking Control Algorithm for a 4 DOF Spatial Manipulator Using PID Controller

2020 ◽  
pp. 433-445
Author(s):  
Pradeep Reddy Bonikila ◽  
Ravi Kumar Mandava ◽  
Pandu Ranga Vundavilli
Keyword(s):  
Pid Controller ◽  
Dynamic Models ◽  
Control Method ◽  
Robotic Manipulator ◽  
Industrial Applications ◽  
Path Tracking ◽  
End Effector ◽  
Straight Line ◽  
Feedback Control Method ◽  
Manipulator Arm

The path tracking phenomenon of a robotic manipulator arm plays an important role, when the manipulators are used in continuous path industrial applications, such as welding, machining and painting etc. Nowadays, robotic manipulators are extensively used in performing the said tasks in industry. Therefore, it is essential for the manipulator end effector to track the path designed to perform the task in an effective way. In this chapter, an attempt is made to develop a feedback control method for a 4-DOF spatial manipulator to track a path with the help of a PID controller. In order to design the said controller, the kinematic and dynamic models of the robotic manipulator are derived. Further, the concept of inverse kinematics has been used to track different paths, namely a straight line and parabolic paths continuously. The effectiveness of the developed algorithm is tested on a four degree of freedom manipulator arm in simulations.

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