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    azonOnto:acceptanceDate "2025-09-19"^^xsd:date ;
    azonOnto:authorInfo [ a azonOnto:AuthorInfo ;
            azonOnto:affiliation unit:7070 ;
            azonOnto:author person:17549 ;
            azonOnto:position 1 ] ;
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    azonOnto:comment "The experiment was performed as a part of the author’s doctoral dissertation."@en ;
    azonOnto:creationDate "2025-07-02"^^xsd:date ;
    azonOnto:description "The video presents results of an experiment. A path following algorithm based on the non-orthogonal Serret-Frenet 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 a controller based on the fully-known dynamics model. The main task of the manipulator is to follow the desired path defined as a 3D clothoid, i.e. 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 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 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."@en ;
    azonOnto:destinationGroup "naukowcy"@pl,
        "ogół społeczeństwa"@pl,
        "przedsiębiorcy"@pl ;
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            azonOnto:uri "https://data.e-science.pl/83190/simExpComparison_Filip_Dyba_SerretFrenet_FullKnowledge_20_08_2025.avi"^^xsd:anyURI ] ;
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            azonOnto:name "Serret-Frenet parametrization"@en ;
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            azonOnto:name "control"@en ;
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        [ a azonOnto:KeywordInfo ;
            azonOnto:name "industrial robot"@en ;
            azonOnto:uri "http://eurovoc.europa.eu/3848"^^xsd:anyURI ],
        [ a azonOnto:KeywordInfo ;
            azonOnto:name "animation"@en ;
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            azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/60150"^^xsd:anyURI ] ;
    azonOnto:language "Angielski"^^xsd:string ;
    azonOnto:licenseInfo [ a azonOnto:LicenseInfo ;
            azonOnto:name "CC BY-SA 4.0"^^xsd:string ;
            azonOnto:uri "https://creativecommons.org/licenses/by-sa/4.0/legalcode.pl"^^xsd:anyURI ] ;
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    azonOnto:originalMedium "inne"^^xsd:string ;
    azonOnto:originalVideoMaterial "materiał montowany bez logo"@pl ;
    azonOnto:partner [ a azonOnto:Organization ;
            azonOnto:name "Politechnika Wrocławska"^^xsd:string ] ;
    azonOnto:placeOfCreation "Laboratory of Robotics, Wroclaw University of Science and Technology"^^xsd:string ;
    azonOnto:quality 5 ;
    azonOnto:recordingLength "00:00:12"^^xsd:string ;
    azonOnto:scientificDiscipline "Dziedzina nauk inżynieryjno-technicznych / automatyka, elektronika i elektrotechnika (2018)"@pl ;
    azonOnto:sound "niemy"@pl ;
    azonOnto:submitter [ a azonOnto:Person ;
            azonOnto:name "Filip Dyba"^^xsd:string ] ;
    azonOnto:title "Video of the experiment results: path following algorithm based on the non-orthogonal Serret-Frenet parametrization and the fully known robot dynamics for a redundant manipulator"@en .