School of Computing, Information & Mathematical Sciences, University of the South Pacific, Suva, FIJI.
*** ali_a@usp.ac.fj
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.
Path planning, findpath problem, Lyapunov function, Lyapunov stability, structured environment
