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		<identifier>oai:zbc.uz.zgora.pl:78794</identifier>
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<dc:title xml:lang="pl"><![CDATA[On path following control of nonholonomic mobile manipulators]]></dc:title>
<dc:creator><![CDATA[Mazur, Alicja]]></dc:creator>
<dc:creator><![CDATA[Szakiel, Dawid]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[mobile manipulator]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[nonholonomic constraints]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[path following]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[Frenet parametrization]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Zieliński, Cezary - ed.]]></dc:contributor>
<dc:date><![CDATA[2009]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/78794/AMCS_2009_19_4_4.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/88585/edition/78794/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:78794]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 19, number 4 (2009)]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=39]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:88585]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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