| || || Ali, Ashehad Ashween.|
| || || A solution to the findpath problem of anchored and unanchored manipulators in constrained environments|
Author:Ali, Ashehad Ashween.
Institution: University of the South Pacific.
Call No.: Pac QA 871 .A45 2006
Copyright:10-20% of this thesis may be copied without the authors written permission
Abstract: This research intends to explore the fundamentals of an emerging technique, applicable at least, in principle, to motion planning and control of anchored and unanchored manipulators. Termed the Direct method of Lyapunov, currently a powerful mathematical technique used to study the qualitative behaviour of natural or man-made systems that could be modeled, in an approximate way, by differential equations. This research proposes a set of continuous control laws to control the motion of a 3-link planar, anchored manipulators and unanchored (differential drive and car-like) manipulators from an initial configuration to a desired one in constrained environments whilst satisfying holonomic and the nonholonomic constraints of the different systems. These nonlinear controllers are mathematical entities which have been synthesized via a new Lyapunov function, which guarantees stability of the system. Computer simulations are used to illustrate the effectiveness of our new control laws.