Motion control of a pair of cylindrical manipulators in a constrained 3 - dimensional workspace

In this paper we utilize the Lyapunov-based Control Scheme (LbCS) to solve the motion control problem of a pair of cylindrical manipulators working in a constrained 3-dimensional workspace. The end-effectors of each manipulator is required to move from initial to final positions whilst obeying all singularities and constraints associated with the system. We also consider fixed and moving obstacles in the workspace which the robots have to avoid at all times. The stability of the system is studied using the Direct Method of Lyapunov, where as computer simulations are used to verify the effectiveness of the proposed nonlinear control laws