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
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 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. (English) Comments: The experiment was performed as a part of the author’s doctoral dissertation.
Keywords	"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
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: 00:00:13 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: 17-09-2025
Collections	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