Surface Following Control for Fully Actuated Rigid Body Systems in Three-Dimensional Euclidean Space

摘要

This paper presents surface following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization is used to systematically design a controller that is suitable for surfaces given by a regular threefold continuously differentiable parametrization. The strategy is verified by measurement results on a DELTA robot with linear drives.