Linear manipulator: Motion control of an n-link robotic arm mounted on a mobile slider

Abstract

Linear manipulators are versatile linear robotics systems that can be reprogrammed to accommodate product changes quickly and are flexible to meet unique requirements. Such robotic systems tend to have higher accuracy, making them the perfect automation solution for those mundane, repetitious tasks. With the demand for linear systems in real-life applications expanding consistently, this paper addresses motion planning and control (MPC) of a new modified unanchored linear manipulator consisting of an n-link robotic arm mounted on a mobile slider along a rail. Using the method of the Lyapunov-based Control Scheme (LbCS), new centralized acceleration-based controllers are designed for the navigation of the system to an unreachable target. Via the scheme, the unanchored manipulator can perform assigned tasks with enhanced reachability. The limitations and singularities of the linear manipulator are treated as artificial obstacles in this motion control scheme. The robotic arm manipulator utilized in this research can reposition its base link to a desired location in the workplace due to changes in work requirements. The effectiveness of the motion planner and the resulting acceleration-based control laws are validated numerically using the Runge-Kutta Method and illustrated via computer simulations. The controllers devised in this research can solve specific and targeted motion control problems of smart cities' modern mechanical systems. The unanchored linear manipulator could be used in various disciplines where pick-and-place, assembly, material handling, and surgical procedures are required.

Keywords

• Linear manipulator
• Artificial potential fields
• Lyapunov stability
• Acceleration controllers