Spline Path Following for Redundant Mechanical Systems

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Author(s) Gill, Rajan J., Kulic, Dana, Nielsen, Christopher
Publication Type Journal Items, Publication Status: Published
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Title Spline Path Following for Redundant Mechanical Systems
Author(s) Gill, Rajan J.
Kulic, Dana
Nielsen, Christopher
Journal or Series Title IEEE Transactions on Robotics
Volume Number 31
Issue Number 6
Start Page 1378
End Page 1392
ISSN 1552-3098
Publisher IEEE
Publication Place New York, NY
Publication Date 2015-12
Keyword(s) Path following
Redundant feedback linearization
Set stabilization
Abstract Path following controllers make the output of a control system approach and traverse a prespecified path with no a priori time-parametrization. In this paper, we present a method for path following control design applicable to framed curves generated by splines in the workspace of kinematically redundant mechanical systems. The class of admissible paths includes self-intersecting curves. Kinematic redundancies are resolved by designing controllers that solve a suitably defined constrained quadratic optimization problem. By employing partial feedback linearization, the proposed path following controllers have a clear physical meaning. The approach is experimentally verified on a four-degree-of-freedom (four-DOF) manipulator with a combination of revolute and linear actuated links and significant model uncertainty.
DOI 10.1109/TRO.2015.2489502
Additional Notes Published online 11 November 2015
Document Type Article
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
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NEBIS System Number 000534891
Source Database ID FORM-1449741712
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  author = "Gill, Rajan J. and Kulic, Dana and Nielsen, Christopher",
  title = "{S}pline {P}ath {F}ollowing for {R}edundant {M}echanical {S}ystems",
  journal = "IEEE Transactions on Robotics",
  year = 2015,
  volume = "31",
  number = "6",
  pages = "1378--1392",
  month = dec,

E-Citations record created: Thu, 10 Dec 2015, 10:01:57 CET