Lyapunov-based Kinematic Path Planning for a 3-link Planar Robot Arm in a Structured Environment

Vanualailai, Jito; Sharma, Bibhya; Ali, Ashehad
August 2007
Global Journal of Pure & Applied Mathematics;2007, Vol. 3 Issue 2, p175
Academic Journal
Based on an emerging artificial potential field technique that models constraints in a robotic system via the Second Method of Lyapunov, this paper proposes nonlinear controllers to guide the end-effector of a single three-link planar robot arm to the desired target in a structured or constrained environment. Numerical examples show how the controllers provide collision detection and avoidance.


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