Robot motions in a dynamic environment

The problem of controlling redundant manipulators in dynamic environments including the moving obstacles, is considered. The task of the robot is to track by the end-effector a prescribed geometric path given in the work space. The control constraints resulting from the physical abilities of robot actuators are taken into account during the robot movement. The Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector tracks a prescribed geometric path given in both an obstacle-free work space and a work space including the moving obstacles, illustrate the trajectory performance of the proposed control scheme