Motion Control of a 2-link Revolute Manipulator in an Obstacle-Ridden Workspace
In this paper, we propose a solution to the motion
control problem of a 2-link revolute manipulator arm. We require the
end-effector of the arm to move safely to its designated target in a
priori known workspace cluttered with fixed circular obstacles of
arbitrary position and sizes. Firstly a unique velocity algorithm is
used to move the end-effector to its target. Secondly, for obstacle
avoidance a turning angle is designed, which when incorporated into
the control laws ensures that the entire robot arm avoids any number
of fixed obstacles along its path enroute the target. The control laws
proposed in this paper also ensure that the equilibrium point of the
system is asymptotically stable. Computer simulations of the
proposed technique are presented.
2-link revolute manipulator, motion control, obstacle
avoidance, asymptotic stability.
Autonomous Control of Multiple Mobile Manipulators
This paper considers the autonomous navigation
problem of multiple n-link nonholonomic mobile manipulators within
an obstacle-ridden environment. We present a set of nonlinear
acceleration controllers, derived from the Lyapunov-based control
scheme, which generates collision-free trajectories of the mobile
manipulators from initial configurations to final configurations in a
constrained environment cluttered with stationary solid objects of
different shapes and sizes. We demonstrate the efficiency of the
control scheme and the resulting acceleration controllers of the
mobile manipulators with results through computer simulations of an
Artificial potential fields, kinodynamic constraints,
Lyapunov-based control scheme, Lyapunov stability, minimum
distance technique, nonholonomic manipulator.
Motion Planning and Control of Autonomous Robots in a Two-dimensional Plane
This paper proposes a solution to the motion planning
and control problem of a point-mass robot which is required to move
safely to a designated target in a priori known workspace cluttered
with fixed elliptical obstacles of arbitrary position and sizes. A
tailored and unique algorithm for target convergence and obstacle
avoidance is proposed that will work for any number of fixed
obstacles. The control laws proposed in this paper also ensures that
the equilibrium point of the given system is asymptotically stable.
Computer simulations with the proposed technique and applications
to a planar (RP) manipulator will be presented.
Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.