A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms

Author:

Velez-Lopez Gerardo C.,Vazquez-Leal HectorORCID,Hernandez-Martinez Luis,Sarmiento-Reyes Arturo,Diaz-Arango GerardoORCID,Huerta-Chua Jesus,Rico-Aniles Hector D.,Jimenez-Fernandez Victor M.

Abstract

Achieving the smart motion of any autonomous or semi-autonomous robot requires an efficient algorithm to determine a feasible collision-free path. In this paper, a novel collision-free path homotopy-based path-planning algorithm applied to planar robotic arms is presented. The algorithm utilizes homotopy continuation methods (HCMs) to solve the non-linear algebraic equations system (NAES) that models the robot’s workspace. The method was validated with three case studies with robotic arms in different configurations. For the first case, a robot arm with three links must enter a narrow corridor with two obstacles. For the second case, a six-link robot arm with a gripper is required to take an object inside a narrow corridor with two obstacles. For the third case, a twenty-link arm must take an object inside a maze-like environment. These case studies validated, by simulation, the versatility and capacity of the proposed path-planning algorithm. The results show that the CPU time is dozens of milliseconds with a memory consumption less than 4.5 kB for the first two cases. For the third case, the CPU time is around 2.7 s and the memory consumption around 18 kB. Finally, the method’s performance was further validated using the industrial robot arm CRS CataLyst-5 by Thermo Electron.

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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