Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space

Combined Path Following and Compliance Control for Fully Actuated Rigid Body Systems in 3-D Space

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 differenti...

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Veröffentlicht in:IEEE transactions on control systems technology 2017-09, Vol.25 (5), p.1750-1760
Hauptverfasser: Bischof, Bernhard, Gluck, Tobias, Kugi, Andreas
Format: Artikel
Sprache:eng
Schlagworte:
Aerospace electronics
Compliance control
Indexes
Kinematics
Manipulators
moving frame
parallel robot
path following control (PFC)
Trajectory
transverse feedback linearization (TFL)
Vehicle dynamics
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Beschreibung
Zusammenfassung: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.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2016.2630599