Tytuł	Video of the experiment results: algorithm for a redundant manipulator to follow poses with respect to the desired path based on the non-orthogonal Serret-Frenet parametrization and unit quaternions
Osoby	Autorzy: Filip Dyba Partner: Politechnika Wrocławska
Opis	The video presents results of an experiment. A path following algorithm based on the non-orthogonal Serret-Frenet parametrization and unit quaternions 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 pose with respect to a path defined as a helix. It means that the controller must maintain the desired end-effector position along the curve and the desired end-effector rotation with respect to the local frame associated with the curve. The relative orientation was expressed in unit quaternions. 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 position with respect to a path with satisfactory precision whereas the desired orientation of the end-effector is obtained. The experiment results prove practical applicability of the developed theoretical solution. (Angielski) Uwagi: The experiment was performed as a part of the author’s doctoral dissertation.
Słowa kluczowe	"unit quaternion"@en, "Serret-Frenet parametrization"@en, "path following"@en, "redundant"@en, "control"@en, "industrial robot"@en, "helix"@en, "animation"@en, "experiment"@en, "manipulator"@en
Klasyfikacja	Typ zasobu: wideo Dyscyplina naukowa: Dziedzina nauk inżynieryjno-technicznych / automatyka, elektronika i elektrotechnika (2018) Grupa docelowa: ogół społeczeństwa, przedsiębiorcy, naukowcy Szkodliwe treści: Nie
Charakterystyka	Miejsce powstania: Laboratory of Robotics, Wroclaw University of Science and Technology Czas powstania: 2025-07-02 Długość nagrania: 00:00:13 Gatunek lub styl nagrania wideo: film naukowy Język zasobu: Angielski Kodek: H.264/MPEG-4 Oryginalny nośnik: inne Ocena techniczna jakości materiału: 5 Oryginalny materiał wideo: materiał montowany bez logo Dźwięk: niemy
Licencja	CC BY-SA 4.0
Informacje techniczne	Deponujący: Filip Dyba Data udostępnienia: 17-09-2025
Kolekcje	Kolekcja Politechniki Wrocławskiej

Video of the experiment results: algorithm for a redundant manipulator to follow poses with respect to the desired path based on the non-orthogonal Serret-Frenet parametrization and Euler angles

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Video of the experiment results: path following algorithm based on the non-orthogonal Bishop parametrization for a redundant manipulator

Video of the experiment results: path following algorithm based on the non-orthogonal Bishop parametrization for a redundant manipulator