Title of article
Control of a three-link manipulator: collision avoidance of a moving obstacle
Author/Authors
Y. Yavin، نويسنده , , C. Frangos، نويسنده ,
Issue Information
دوهفته نامه با شماره پیاپی سال 2004
Pages
13
From page
1627
To page
1639
Abstract
This work deals with the control of a three-link manipulator. A control problem concerning the motion of its end-effector in the vicinity of a moving obstacle is posed. The problem is solved by first using successively two inverse dynamics transformations, and then by minimizing a penalty function.
Keywords
Obstacle avoidance , Three-link manipulator , Moving obstacle , End-effector
Journal title
Computers and Mathematics with Applications
Serial Year
2004
Journal title
Computers and Mathematics with Applications
Record number
920023
Link To Document