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Path following control robot kinematics and dynamics

  1. Oct 23, 2012 #1
    Hello,

    I have a general question regarding what is the best controller (PI, PD, etc.) to control the position of a mobile robot in order to follow a known path.

    The mobile robot at hand is a mechanism (a 4 bar linkage with its two base gliding on two parallel but not straight rails) and I want the end effector to follow the center-line between the two rails.

    I have a path following controller working perfectly with the kinematics using just a P controller.

    The problem occurs when I introduce the Dynamics. The Dynamics controller I am using is a PD.

    I am controlling the Dynamics based on the kinematics path following control.

    I do not know if this kind of control has a name ???

    Thank you for your answer.
     
  2. jcsd
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