Experimental Validation of the Non-Orthogonal Serret-Frenet Parametrization Applied to the Path Following Task

Filip Dyba

2023

Abstract

The path following task belongs to the fundamental robotic tasks. It consists of following a spatial curve parametrized with a curvilinear distance. In this time-independent approach no time regimes are imposed on a robot. In fact, it is a natural definition of a task for many robots, e.g. autonomous vehicles. In the paper a path following algorithm based on the non-orthogonal Serret–Frenet parametrization is presented. Such an approach is global and does not introduce any constraints to the robot description with respect to the path. It has been extensively studied recently. Hence, an experimental verification of the algorithm is proposed. The validation was conducted on a laboratory test–bed equipped with a redundant manipulator —the KINOVA ® Gen3 Ultra lightweight robot. In the paper a case study is proposed to compare simulation results and experimental measurements. It is an example how the mathematical legacy of the past centuries can be used for modern solutions. The experimental study confirms the practical suitability of the presented control algorithm.

Paper Citation

in Harvard Style

Dyba F. (2023). Experimental Validation of the Non-Orthogonal Serret-Frenet Parametrization Applied to the Path Following Task. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 608-615. DOI: 10.5220/0012164200003543

in Bibtex Style

@conference{icinco23,
author={Filip Dyba},
title={Experimental Validation of the Non-Orthogonal Serret-Frenet Parametrization Applied to the Path Following Task},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={608-615},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012164200003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Experimental Validation of the Non-Orthogonal Serret-Frenet Parametrization Applied to the Path Following Task
SN - 978-989-758-670-5
AU - Dyba F.
PY - 2023
SP - 608
EP - 615
DO - 10.5220/0012164200003543
PB - SciTePress