A simple approach to motion control of a three-dimensional articulated manipulator arm

In this paper, we propose a relatively simple approach to solve the motion control problem of a three dimensional articulated manipulator arm. The manipulator arm has two links connected by a revolute joint and is anchored on a rotatable base. The kinematic model is developed and a velocity based algorithm is used to move the end-effector from an initial position to a goal position taking into account the mechanical singularities of the system. For obstacle avoidance, we require every point on the two links to avoid any obstacle that it may encounter. Computer simulations are presented to illustrate the effectiveness of the proposed control laws.