Open AccessTowards Comparison and Real Time Implementation of Path Planning Methods for 2R Planar Manipulator with Obstacles Avoidance
Author(s) -
Mustafa Laith Muhammed,
Amjad J. Humaidi,
Enass Hassan Flaieh
Publication year - 2022
Publication title -
mathematical modelling and engineering problems/mathematical modelling of engineering problems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.26
H-Index - 11
eISSN - 2369-0747
pISSN - 2369-0739
DOI - 10.18280/mmep.090211
Subject(s) - motion planning , path (computing) , bézier curve , computer science , fast path , any angle path planning , obstacle avoidance , point (geometry) , parametric statistics , control theory (sociology) , set (abstract data type) , actuator , robot , mathematical optimization , simulation , algorithm , control (management) , mathematics , mobile robot , artificial intelligence , statistics , geometry , programming language
The main requirement of parametric path planning techniques in robot manipulators is to create continuous, smooth, and easy-to-modify path such as to move the end-effector from start point to destination point. To meet these requirements, the rational Bezier and NURBS algorithms have been proposed for path planning of 2R manipulator in environment with known and static obstacles. In this study, a comparison in terms of path length and time consumption of algorithm has been conducted to show the superior of one method to another. Based on numerical simulation, it has been shown that the rational Bezier algorithm generates shorter path and takes less time to complete the path planning task as compared to NURBS method. In addition, this study presented the design of real-time set-up based on Arduino UNO microcontroller and micro-stepping actuators. It has been shown that the experimental results could successfully verify the numerical results for both proposed path planning methods for different configuration of obstacles.