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path following control using kinematics and dynamics

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hugg
hugg 2012-10-23
Hello,
I have a general question regarding what is the best controller (PI, PD, etc.) to control the position of a mobile robot in order to follow a known path.
The mobile robot at hand is a mechanism (a 4 bar linkage with its two base gliding on two parallel but not straight rails) and I want the end effector to follow the center-line between the two rails.
I have a path following controller working perfectly with the kinematics using just a P controller.
The problem occurs when I introduce the Dynamics. The Dynamics controller I am using is a PD.
I am controlling the Dynamics based on the kinematics path following control.
I do not know if this kind of control has a name ???
Thank you for your answer.

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