SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS

Alicja Mazur; Elżbieta Roszkowska

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Paper

SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS

Topics: Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 15-21, 2010 , Funchal, Madeira, Portugal

Authors: Alicja Mazur and Elżbieta Roszkowska

Affiliation: Wrocław University of Technology, Poland

Keyword(s): Mobile manipulator, Nonholonomic constraints, Path following, Frenet parametrization.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper describes a problem of designing control laws preserving a motion along desired path for doubly nonholonomic mobile manipulators. The doubly nonholonomic mobile manipulator is composed of a mobile platform moving without slipping effect between wheels and the surface (i.e. nonholonomic platform) and an onboard manipulator equipped with special nonholonomic gears, designed by Nakamura, Chung and Sørdalen. A task for any nonholonomic subsystem (i.e. nonholonomic platform or nonholonomic manipulator) is to follow a desired path – some geometric curve parameterized by curvilinear distance from selected point. A description of the nonholonomic subsystem relative to the desired path using so-called Frenet parametrization is a basis for formulating the path following problem and designing a kinematic control algorithm.

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Paper citation in several formats:

Mazur, A. and Roszkowska, E. (2010). SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 15-21. DOI: 10.5220/0002883700150021

@conference{icinco10,
author={Alicja Mazur. and Elżbieta Roszkowska.},
title={SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={15-21},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002883700150021},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Mazur, A.
AU - Roszkowska, E.
PY - 2010
SP - 15
EP - 21
DO - 10.5220/0002883700150021
PB - SciTePress