首页|Wroclaw University of Science and Technology Researchers Add New Findings in the Area of Robotics (Non-Orthogonal Serret- Frenet Parametrization Applied to Path Following of B-Spline Curves by a Mobile Manipulator)
Wroclaw University of Science and Technology Researchers Add New Findings in the Area of Robotics (Non-Orthogonal Serret- Frenet Parametrization Applied to Path Following of B-Spline Curves by a Mobile Manipulator)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Current study results on robotics have been published. According to news originating from Wroclaw, Poland, by NewsRx c orrespondents, research stated, “A tool for path following for a mobile manipula tor is herein presented.” Our news correspondents obtained a quote from the research from Wroclaw Universi ty of Science and Technology: “The control algorithm is obtained by projecting a local frame associated with the robot onto the desired path, thus obtaining a n on-orthogonal moving frame. The Serret-Frenet frame moving along the curve is co nsidered as a reference. A curve resulting from the control points of a B-spline in 2D or 3D is investigated as the desired path. It is used to show how the geo metric continuity of the path has an impact on the performance of the robot in t erms of undesired force spikes. This can be understood by looking at the curvatu re and, in 3D, at the torsion of the path. These unwanted effects vanish and bet ter performance is achieved thanks to the change of the B-spline order.”
Wroclaw University of Science and Techno logyWroclawPolandEuropeEmerging TechnologiesMachine LearningRobotR obotics
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