Path following control algorithm for planar holonomic N-link manipulators using non-singular path parametrization

Abstract

In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. The path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. The new control algorithm for N-link manipulators is proposed. The effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.