Browsing Engineering (Faculty of) by Author "Gill, Rajan"

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Path Following for Mobile Manipulators

Gill, Rajan; Kulic, Dana; Nielsen, Christopher (Springer, 2017-07-25)

This paper presents a framework of path following via set stabilization for mobile manipulator systems. The mobile manipulator is modelled as a single redundant dynamic system. The mobile base considered belongs to a large ...
Robust Spline Path Following for Redundant Mechanical Systems

Gill, Rajan (University of Waterloo, 2015-05-20)

Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. The first part of the thesis implements a path following controller for a ...