Chand, Ravinesh and Chand, Ronal P. and Kumar, Sandeep A. (2022) Switch controllers of an n-link revolute manipulator with a prismatic end-effector for landmark navigation. Peer J Computer Science, 8 . pp. 1-27. ISSN 2376-5992
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Abstract
Robotic arms play an indispensable role in multiple sectors such as manufacturing, transportation and healthcare to improve human livelihoods and make possible their endeavors and innovations, which further enhance the quality of our lives. This paper considers such a robotic arm comprised of n revolute links and a prismatic endeffector, where the articulated arm is anchored in a restricted workspace. A new set of stabilizing switched velocity-based continuous controllers was derived using the Lyapunov-based Control Scheme (LbCS) from the category of classical approaches where switching of these nonlinear controllers is invoked by a new rule. The switched controllers enable the end-effector of the robotic arm to navigate autonomously via a series of landmarks, known as hierarchal landmarks, and finally
converge to its equilibrium state. The interaction of the inherent attributes of LbCS that are the safeness, shortness and smoothness of paths for motion planning bring about cost and time efficiency of the controllers. The stability of the switched system was proven using Branicky’s stability criteria for switched systems based on multiple Lyapunov functions and was numerically validated using the RK4
method (Runge–Kutta method). Finally, computer simulation results are presented to show the effectiveness of the continuous time-invariant velocity-based controllers.
| Item Type: | Journal Article |
|---|---|
| Uncontrolled Keywords: | n-Link robotic arm, Switched system, Multiple Lyapunov functions, Velocity controllers, Hierarchal landmark |
| Subjects: | Q Science > QA Mathematics Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Nirma Narayan |
| Date Deposited: | 18 Dec 2023 22:05 |
| Last Modified: | 03 Jan 2024 02:15 |
| URI: | https://repository.usp.ac.fj/id/eprint/14347 |
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