Spline Path Following for Redundant Mechanical Systems
Abstract
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves generated by splines in the workspace of kinematically redundant mechanical systems. The class of admissible paths includes self-intersecting curves. Kinematic redundancies are resolved by designing controllers that solve a suitably defined constrained quadratic optimization problem. By employing partial feedback linearization, the proposed path following controllers have a clear physical meaning. The approach is experimentally verified on a 4-degree-of-freedom (4-DOF) manipulator with a combination of revolute and linear actuated links and significant model uncertainty.
Keywords
Cite
@article{arxiv.1504.06917,
title = {Spline Path Following for Redundant Mechanical Systems},
author = {Rajan Gill and Dana Kulić and Christopher Nielsen},
journal= {arXiv preprint arXiv:1504.06917},
year = {2015}
}
Comments
Submitted to IEEE TRO (under review)