Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2018) Motion control of a pair of cylindrical manipulators in a constrained 3 - dimensional workspace. [Conference Proceedings]
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Abstract
In this paper we utilize the Lyapunov-based Control Scheme (LbCS) to solve the motion control problem of a pair of cylindrical manipulators working in a constrained 3-dimensional workspace. The end-effectors of each manipulator is required to move from initial to final positions whilst obeying all singularities and constraints associated with the system. We also consider fixed and moving obstacles in the workspace which the robots have to avoid at all times. The stability of the system is studied using the Direct Method of Lyapunov, where as computer simulations are used to verify the effectiveness of the proposed nonlinear control laws.
| Item Type: | Conference Proceedings |
|---|---|
| Additional Information: | DOI: 10.1109/APWConCSE.2017.00022 |
| Subjects: | Q Science > QA Mathematics |
| Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Avinesh Prasad |
| Date Deposited: | 20 Feb 2019 23:10 |
| Last Modified: | 20 Feb 2019 23:10 |
| URI: | https://repository.usp.ac.fj/id/eprint/11036 |
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