Spline Path Following for Redundant Mechanical Systems
نویسندگان
چکیده
منابع مشابه
Robust Spline Path Following for Redundant Mechanical Systems
Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. The first part of the thesis implements a path following controller for a simple class of paths, based on transverse feedback linearization (TFL), which guarantees invariance of the path to be followed. The coordinate and feedback transformation employ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2015
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2015.2489502