Open Science Research Excellence

Avinesh Prasad

Publications

3

Publications

3
1256
Motion Control of a 2-link Revolute Manipulator in an Obstacle-Ridden Workspace
Abstract:
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.
Keywords:
2-link revolute manipulator, motion control, obstacle avoidance, asymptotic stability.
2
3378
Autonomous Control of Multiple Mobile Manipulators
Abstract:
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 interesting scenario.
Keywords:
Artificial potential fields, kinodynamic constraints, Lyapunov-based control scheme, Lyapunov stability, minimum distance technique, nonholonomic manipulator.
1
13515
Motion Planning and Control of Autonomous Robots in a Two-dimensional Plane
Abstract:
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.
Keywords:
Point-mass Robot, Asymptotic stability, Motionplanning, Planar Robot Arm.