Path tracking by the end-effector of a redundant manipulator

This study deals with the problem of tracking a prescribed geometric path by the end-effector of a kinematically redundant manipulator at the control-loop level. During the robot motion, the control constraints resulting from the physical abilities of robot actuators are taken into account. The Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector tracks a segment line in a two-dimensional work space, illustrate the trajectory performance of the proposed control scheme.