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Control of a three-link manipulator: collision avoidance of a moving obstacle

✍ Scribed by Y. Yavin; C. Frangos

Publisher
Elsevier Science
Year
2004
Tongue
English
Weight
622 KB
Volume
47
Category
Article
ISSN
0898-1221

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✦ Synopsis

This work deals with the control of a three-link manipulator. A control problem concerning the motion of its end-effector in the vicinity of a moving obstacle is posed. The problem is solved by first using successively two inverse dynamics transformations, and then by minimizing a penalty function. (~) 2004 Elsevier Ltd. All rights reserved.

πŸ“œ SIMILAR VOLUMES

CONTROL OF A TWO-LINK RIGID–FLEXIBLE MAN
CONTROL OF A TWO-LINK RIGID–FLEXIBLE MANIPULATOR WITH A MOVING PAYLOAD MASS
✍ S. CHOURA; A.S. YIGIT πŸ“‚ Article πŸ“… 2001 πŸ› Elsevier Science 🌐 English βš– 313 KB

Control of a two-link rigid}#exible manipulator carrying a moving payload mass is considered. The stability of the system when the payload mass is moving along the #exible link during the time of maneuver is investigated. A candidate Lyapunov function is constructed and its time rate of change is ex