| dc.creator | Vanualailai, Jito | |
| dc.creator | Sharma, Bibhya | |
| dc.date | 2004-10-01 | |
| dc.date.accessioned | 2019-05-03T12:36:49Z | |
| dc.date.available | 2019-05-03T12:36:49Z | |
| dc.identifier | http://revistas.ufro.cl/ojs/index.php/cubo/article/view/1636 | |
| dc.identifier.uri | http://revistaschilenas.uchile.cl/handle/2250/84361 | |
| dc.description | In this paper, we explore the fundamentals of an emerging technique applicable, at least, in principle, to robot navigation, or motion planning. Termed the second method of Lyapunov, it is currently a powerful mathematical technique used to study the qualitative behaviour of natural or man-made systems that could be modeled, in an approximate way, by differential equations. We review the Lyapunov method and then in a simple and direct way, we use it to propose a theoretical technique to control the motion of a planar arm in a constrained environment. The controllers are mathematical entities which are nonlinear in nature. Computer simulations are used to illustrate the effectiveness of the proposed controllers. | en-US |
| dc.format | application/pdf | |
| dc.language | eng | |
| dc.publisher | Universidad de La Frontera. Temuco, Chile. | en-US |
| dc.relation | http://revistas.ufro.cl/ojs/index.php/cubo/article/view/1636/1487 | |
| dc.source | CUBO, A Mathematical Journal; Vol. 6 Núm. 3 (2004): CUBO, A Mathematical Journal; 131–144 | es-ES |
| dc.source | CUBO, A Mathematical Journal; Vol 6 No 3 (2004): CUBO, A Mathematical Journal; 131–144 | en-US |
| dc.source | 0719-0646 | |
| dc.source | 0716-7776 | |
| dc.title | Moving a Robot Arm: An interesting application of the Direct method of Lyapunov | en-US |
| dc.type | info:eu-repo/semantics/article | |
| dc.type | info:eu-repo/semantics/publishedVersion | |
