Abstract
In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear due to motion of the robotic system without slipping effect between wheels and the surface (for nonholonomic platform) or between special supporting wheels and ball in an onboard manipulator equipped with nonholonomic gears. As a point of departure for mathematical formulation of this problem we will use so-called Frenet parametrization. It establishes some tool to find some control laws solving the formulated problem. A role of orientation in the path tracking will depend on the user-choice and number of control inputs.
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Mazur, A. (2011). Orientation of Doubly Nonholonomic Mobile Manipulator in the Path Tracking Problem. In: Cetto, J.A., Ferrier, JL., Filipe, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 89. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19539-6_11
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DOI: https://doi.org/10.1007/978-3-642-19539-6_11
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