@article{(Open Science Index):https://publications.waset.org/pdf/1256,
	  title     = {Motion Control of a 2-link Revolute Manipulator in an Obstacle-Ridden Workspace},
	  author    = {Avinesh Prasad and  Bibhya Sharma and  Jito Vanualailai},
	  country	= {},
	  institution	= {},
	  abstract     = {In this paper, we propose a solution to the motion
control problem of a 2-link revolute manipulator arm. We require the
end-effector of the arm to move safely to its designated target in a
priori known workspace cluttered with fixed circular obstacles of
arbitrary position and sizes. Firstly a unique velocity algorithm is
used to move the end-effector to its target. Secondly, for obstacle
avoidance a turning angle is designed, which when incorporated into
the control laws ensures that the entire robot arm avoids any number
of fixed obstacles along its path enroute the target. The control laws
proposed in this paper also ensure that the equilibrium point of the
system is asymptotically stable. Computer simulations of the
proposed technique are presented.},
	    journal   = {International Journal of Mathematical and Computational Sciences},
	  volume    = {6},
	  number    = {12},
	  year      = {2012},
	  pages     = {1751 - 1756},
	  ee        = {https://publications.waset.org/pdf/1256},
	  url   	= {https://publications.waset.org/vol/72},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 72, 2012},
	}