DocumentCode
1960155
Title
Tracking controller with vector field orientation for 3-D nonholonomic manipulator
Author
Michalek, Maciej ; Kozlowski, Krzysztof
Author_Institution
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
fYear
2004
fDate
17-20 June 2004
Firstpage
181
Lastpage
189
Abstract
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.
Keywords
control system synthesis; manipulator kinematics; tracking; 3D nonholonomic manipulator; NHM3 kinematic model; control design methodology; tracking controller; vector field orientation; Control design; Control systems; Feedback control; Gears; Kinematics; Manipulator dynamics; Mobile robots; Orbital robotics; Velocity control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN
83-7143-272-0
Type
conf
DOI
10.1109/ROMOCO.2004.240581
Filename
1359506
Link To Document