Following 3D paths by a manipulator - adaptive case

This paper addresses the problem of following three-dimensional path by holonomic manipulator with parametric uncertainty in the dynamics. Description of the manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame which is moving along the curve. The adaptive control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations are supported by the results computer simulations.

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Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).