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records:83193 a azonOnto:Video ;
azonOnto:acceptanceDate "2025-09-17"^^xsd:date ;
azonOnto:authorInfo [ a azonOnto:AuthorInfo ;
azonOnto:affiliation unit:7070 ;
azonOnto:author person:17549 ;
azonOnto:position 1 ] ;
azonOnto:codec "H.264/MPEG-4"^^xsd:string ;
azonOnto:collection collection:1 ;
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 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."@en ;
azonOnto:destinationGroup "naukowcy"@pl,
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azonOnto:name "simExpComparison_Filip_Dyba_SerretFrenet_quaternion_lambdaTracking_20_08_2025.avi"^^xsd:string ;
azonOnto:uri "https://data.e-science.pl/83193/simExpComparison_Filip_Dyba_SerretFrenet_quaternion_lambdaTracking_20_08_2025.avi"^^xsd:anyURI ] ;
azonOnto:genre "film naukowy"@pl ;
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azonOnto:keywordInfo [ a azonOnto:KeywordInfo ;
azonOnto:name "unit quaternion"@en ;
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azonOnto:name "Serret-Frenet parametrization"@en ;
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azonOnto:name "path following"@en ;
azonOnto:uri "http://id.e-science.pl/vocab/kv/52878"^^xsd:anyURI ],
[ a azonOnto:KeywordInfo ;
azonOnto:name "redundant"@en ;
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azonOnto:name "control"@en ;
azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/372968"^^xsd:anyURI ],
[ a azonOnto:KeywordInfo ;
azonOnto:name "industrial robot"@en ;
azonOnto:uri "http://eurovoc.europa.eu/3848"^^xsd:anyURI ],
[ a azonOnto:KeywordInfo ;
azonOnto:name "helix"@en ;
azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/301405"^^xsd:anyURI ],
[ a azonOnto:KeywordInfo ;
azonOnto:name "animation"@en ;
azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/93505"^^xsd:anyURI ],
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azonOnto:name "experiment"@en ;
azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/60150"^^xsd:anyURI ],
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azonOnto:name "manipulator"@en ;
azonOnto:uri "http://plwordnet.pwr.wroc.pl/wordnet/synset/341056"^^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 ] ;
azonOnto:numberOfTracks 0 ;
azonOnto:origin "OTHER"^^xsd:string ;
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 "00:00:13"^^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: 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"@en .
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