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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