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]

Preview

PDF - Published Version Download (833kB) | Preview

Abstract

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
URI:	http://repository.usp.ac.fj/id/eprint/13320

UNSPECIFIED

Actions (login required)

View Item