Lyapunov-based Controllers of an n-link Prismatic Robot Arm

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.

Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

“…As shown, the mobile slider and robotic arms perform designated tasks. The simulation results indicate that the proposed acceleration-based controllers are more feasible, effective, and facilitate a smooth motion than the trajectory tracking performance of the robotic arms with velocity-based controllers utilized in [56] and [30] , which give rise to algorithm singularities and sharp changes in angular velocities resulting in erratic motion [31] , [32] . The response curves of the linear velocity of the slider ( Fig.…”

“…This modification of the robotic arm concept and the two-step switch movement enables the linear slider to extend the arm's workspace by advancing linearly along the rail towards an elusive target with increased reachability. In comparison, the anchored robotic arm systems mentioned in [13] , [30] , [18] offer a restricted workspace and minimal operational functionalities of the end-effector in performing designated tasks. The proposed unanchored linear manipulator can have real-world applications in industrial sectors requiring process repeatability tasks like material handling and pick-and-place.…”