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| Title |
Video of the experiment results: path following algorithm based on the non-orthogonal Bishop parametrization for a redundant manipulator |
|---|---|
| Persons |
Authors:
Filip Dyba
Partner: Wrocław University of Science and Technology |
| Description |
The video presents results of an experiment. A path following algorithm based on the non-orthogonal Bishop parametrization for a redundant manipulator was tested on the laboratory test-bed. The considered approach based on the curvilinear parametrization leads to the generation of velocity profiles which were performed using the lambda-tracking algorithm. The main task of the manipulator is to follow the desired path defined as a helix, i.e. to force the end-effector motion along the curve. The recording of the experiment is presented in the lower part of the video. Here, the redundant Kinova Gen3 Ultra lightweight robot is used. It is controlled with the dedicated software in C++ and the original path following algorithm. The robot performance in the experiment is compared with the simulation results which are presented in the upper part of the video as an animation. The obtained simulation and experiment results are consistent. The proposed algorithm allows following desired paths with satisfactory precision. The experiment results prove practical applicability of the developed theoretical solution. (English) Comments: The experiment was performed as a part of the author’s doctoral dissertation. |
| Keywords | "Bishop parametrization"@en, "path following"@en, "redundant"@en, "control"@en, "industrial robot"@en, "animation"@en, "experiment"@en, "manipulator"@en |
| Classification |
Resource type:
video Scientific discipline: Dziedzina nauk inżynieryjno-technicznych / automatyka, elektronika i elektrotechnika (2018) Destination group: general public, entrepreneurs, scientists Harmful content: No |
| Characteristics |
Place of creation: Laboratory of Robotics, Wroclaw University of Science and Technology
Creation time: 2025-07-02 Recording length: 00:00:12 Video recording genre or style: scientific film Resource language: English Codec: H.264/MPEG-4 Original medium: other Technical assessment of material quality: 5 Original video material: material assembled without logo Sound: wordless |
| License | CC BY-SA 4.0 |
| Technical information |
Submitter: Filip Dyba Availability date: 18-09-2025 |
| Collections | Kolekcja Politechniki Wrocławskiej |
Citation
Filip Dyba. Video of the experiment results: path following algorithm based on the non-orthogonal Bishop parametrization for a redundant manipulator. [video] Available in Atlas of Open Science Resources, . License: CC BY-SA 4.0, https://creativecommons.org/licenses/by-sa/4.0/legalcode.pl. Date of access: DD.MM.RRRR.
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