Parallel Position and Orientation Control for a Redundant Manipulator Performing the Path Following Task

A path is a time-independent geometric description of a robot motion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefore, path following algorithms are eagerly developed. However, a lot of them focus o...

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Bibliographic Details
Published in2024 13th International Workshop on Robot Motion and Control (RoMoCo) pp. 199 - 204
Main Author Dyba, Filip
Format Conference Proceeding
LanguageEnglish
Published IEEE 02.07.2024
Subjects
Conferences
Control systems
Position control
Quaternions
Robot motion
Service robots
Three-dimensional displays
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Summary:A path is a time-independent geometric description of a robot motion. It does not impose any time regimes on the controlled robot and is a natural task definition for many industrial and autonomous operations. Therefore, path following algorithms are eagerly developed. However, a lot of them focus only on the position control or planar cases. In this paper, a new algorithm is proposed to control simultaneously manipulator position and orientation with respect to the desired path in the 3D space. The motion of the end-effector along the path is described with the non-orthogonal Serret-Frenet parametrization. The standard approach has been extended with the definition of the relative orientation using the minimal representation of Euler angles. The algorithm is validated with a simulation analysis and an experimental study on the laboratory test-bed equipped with the redundant manipulator of 7 degrees of freedom, Kinova® Gen3 Ultra lightweight robot. The comparison of the achieved results proves the theoretical properties and practical suitability of the designed control law.
ISSN:2575-5579
DOI:10.1109/RoMoCo60539.2024.10604337