Lyapunov-based Controllers of an n-link Prismatic Robot Arm

Abstract

This research provides a generalized stabilizing velocity controllers for planer robot arm with a base rotational joint and $n\in \mathbb{N}$ translation joint for navigation. The end-effector of the planer robot arm has to navigate from an initial to a final configuration space in an environment, which cluttered with obstacles. The velocity controllers are developed from a Lyapunov function, total potentials, designed via Lyapunov-based control scheme (LbCS) falling under the classical approach of artificial potential fields method. The effectiveness of the controllers is validated through computer simulations.