| This paper addresses the problem
of tracking a prescribed geometric path by the end effector of a kinematically
redundant manipulator at the control loop level. The constraints imposed
on the robot actuator controls are taken into account. The Lyapunov stability
theory and/or the calculus of variations are used to derive the control
scheme. Through the use of an exterior penalty function approach, an additional
objective to be fulfilled by the robot, that is, collision avoidance of
the manipulator links with obstacles, is ensured. The extensive computer
simulation results illustrate the trajectory performance of the proposed
control scheme for a geometric end effector path given in both an obstacle-free
work space and a work space including obstacles. |
