Motion Control of a Pair of Cylindrical Manipulators in a Constrained 3-dimensional Workspace

被引：1

作者：

Prasad, Avinesh ^{[1
]}

Sharma, Bibhya ^{[1
]}

Vanualailai, Jito ^{[1
]}

机构：

[1] Univ South Pacific, Sch Comp Informat & Math Sci, Suva, Fiji

来源：

2017 4TH ASIA-PACIFIC WORLD CONGRESS ON COMPUTER SCIENCE AND ENGINEERING (APWCONCSE 2017) | 2017年

关键词：

Cylindrical manipulators; Lyapunov-based Control Scheme; Minimum Distance Technique; Stability; COLLISION-AVOIDANCE; ROBOT;

D O I：

10.1109/APWConCSE.2017.00022

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

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.

引用

页码：75 / 81

页数：7

共 50 条

[31] ALGORITHMS FOR ESTIMATION OF 3-DIMENSIONAL MOTION
NETRAVALI, AN
SALZ, J
AT&T TECHNICAL JOURNAL, 1985, 64 (02): : 335 - 346
[32] 3-DIMENSIONAL MOTION OF A MATERIAL POINT
NAISHUL, AB
PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS, 1992, 56 (02): : 175 - 182
[33] MOTION OF SURFACES IN 3-DIMENSIONAL SPACE
NAKAYAMA, K
WADATI, M
MATHEMATICS AND COMPUTERS IN SIMULATION, 1994, 37 (4-5) : 417 - 430
[34] CONTROL OF ROBOTIC MANIPULATORS WITH FLEXIBLE JOINTS DURING CONSTRAINED MOTION TASK EXECUTION
MILLS, JK
PROCEEDINGS OF THE 28TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, 1989, : 1676 - 1681
[35] Direct force and position control using kinematics and dynamics of manipulators in constrained motion
Ikeda, T
Minami, M
Mae, Y
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 2544 - 2549
[36] Predictable motion of hyper-redundant manipulators using constrained optimization control
Fromherz, MPJ
Jackson, WB
IC-AI'2000: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, VOL 1-III, 2000, : 1141 - 1147
[37] Constrained motion control of flexible robot manipulators based on recurrent neural networks
Tian, LF
Wang, J
Mao, ZY
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2004, 34 (03): : 1541 - 1552
[38] Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators
Li, Z.
Ge, S. S.
Adams, M.
Wijesoma, W. S.
AUTOMATICA, 2008, 44 (03) : 776 - 784
[39] Scaling of Joint Motion and Muscle Activation for 3-Dimensional Control of Reach Extent
Smith, Charles R.
Hetherington, Austin
Silfies, Sheri P.
Stewart, Jill C.
JOURNAL OF MOTOR BEHAVIOR, 2022, 54 (02) : 222 - 236
[40] 3-DIMENSIONAL PUASSON EQUATION SOLUTION FOR CYLINDRICAL MAGNETRON
DAVIDOVICH, MV
RADIOTEKHNIKA I ELEKTRONIKA, 1986, 31 (11): : 2224 - 2232

← 1 2 3 4 5 →