Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space
| Autor: | Bernhard Bischof, Andreas Kugi, Tobias Glück |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry 020208 electrical & electronic engineering Frame (networking) 02 engineering and technology Kinematics Rigid body Curvature 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Feedback linearization Electrical and Electronic Engineering business Delta robot |
| Zdroj: | IEEE Transactions on Control Systems Technology. 25:1750-1760 |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2016.2630599 |
| Popis: | This paper presents path following control for fully actuated rigid body systems in 3-D space. Transverse feedback linearization and a parallel transport frame are used to design a path following controller that is suitable for paths that are parametrized as regular threefold continuously differentiable curves. The application of this frame enables the handling of paths with zero curvature and reduces the complexity of the control law. The path following controller is combined with a compliance control concept. The strategy is verified by a series of measurement results on a DELTA robot with linear drives. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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