Position synchronized path following for a mobile robot and manipulator

摘要

We solve a coordinated path following problem for a fully actuated revolute type robotic manipulator with 4 degrees-of-freedom and a dynamic unicycle. Each robot is assigned a simple closed curve in its output space. The robots must approach and traverse their assigned curves while synchronizing their positions along the paths. Synchronization entails enforcing a positional constraint between the robots modeled as a constraint function on the paths. After characterizing feasible constraints, a finite-time stabilizing control law is used to enforce the position constraint. A switching rule is introduced to avoid singularities introduced by our control laws.