Spline Path Following for Redundant Mechanical Systems


Path following controllers make the output of a management system approach and traverse a prespecified path with no a priori time-parametrization. In this paper, we have a tendency to gift a method for path following management style applicable to framed curves generated by splines within the workspace of kinematically redundant mechanical systems. The class of admissible paths includes self-intersecting curves. Kinematic redundancies are resolved by planning controllers that solve a suitably outlined constrained quadratic optimization problem. By using partial feedback linearization, the proposed path following controllers have a transparent physical meaning. The approach is experimentally verified on a four-degree-of-freedom (four-DOF) manipulator with a mixture of revolute and linear actuated links and important model uncertainty.

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