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Lyapunov - based controllers of an n - link Prismatic Robot Arm

Chand, Ronal P. and Kumar, Sandeep A. and Chand, Ravinesh and Tamath, Robert (2022) Lyapunov - based controllers of an n - link Prismatic Robot Arm. [Conference Proceedings]

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This research provides a generalized stabilizing velocity controllers for planer robot arm with a base rotational joint and n∈N translation joint for navigation. The end-effector of the planer robot arm has to navigate from an initial to a final configuration space in an environment, which cluttered with obstacles. The velocity controllers are developed from a Lyapunov function, total potentials, designed via Lyapunov-based control scheme (LbCS) falling under the classical approach of artificial potential fields method. The effectiveness of the controllers is validated through computer simulations.

Item Type: Conference Proceedings
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: School of Information Technology, Engineering, Mathematics and Physics (STEMP)
Depositing User: Ms Shalni Sanjana
Date Deposited: 17 Mar 2022 23:28
Last Modified: 16 Aug 2022 23:15

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