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A Simple Approach to Motion Control of a Three-Dimensional Articulated Manipulator Arm

Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2014) A Simple Approach to Motion Control of a Three-Dimensional Articulated Manipulator Arm. [Conference Proceedings]

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Abstract

In this paper, we propose a relatively simple approach to solve the motion control problem of a three dimensional articulated manipulator arm. The manipulator arm has two links connected by a revolute joint and is anchored on a rotatable base. The kinematic model is developed and a velocity based algorithm is used to move the end-effector from an initial position to a goal position taking into account the mechanical singularities of the system. For obstacle avoidance, we require every point on the two links to avoid any obstacle that it may encounter. Computer simulations are presented to illustrate the effectiveness of the proposed control laws.

Item Type: Conference Proceedings
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Office of the PVC (R&I)
Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Avinesh Prasad
Date Deposited: 30 Mar 2015 16:06
Last Modified: 11 Jul 2016 14:51
URI: http://repository.usp.ac.fj/id/eprint/8149
UNSPECIFIED

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