SELECTION OF DIFFERENT PATHS FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATORS

Alicja Mazur, Elżbieta Roszkowska

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 Harvard Style

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, pages 15-21. DOI: 10.5220/0002883700150021


in Bibtex Style

@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},
}


in EndNote Style

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
AU - Mazur A.
AU - Roszkowska E.
PY - 2010
SP - 15
EP - 21
DO - 10.5220/0002883700150021