Trajectory tracking for an anthropomorphic manipulator robot using APF's
Abstract
This paper presents a control algorithm applying the theory of attractive potential fields (APF's) to achieve trajectory tracking in an anthropomorphic manipulator robot with three degrees of freedom. An APF together with its gradient descent is proposed to solve the problem. The theoretical results are validated numerically in Matlab/Simulink using different trajectories to corroborate the stability of the algorithm.
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References
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Copyright (c) 2024 Daly Yareth Lara-Solís, Zurisadai Flores-Murcia, Jesús Santiaguillo-Salinas, Eduardo Aranda-Bricaire
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