Obstacle avoiding trajectory planning for 5 degree of freedom robot

Abstract

Trajectory planning is one of the most important pivotal point in pick and place task done by robotic manipulators. This paper presents determination of trajectory between initial point and end point for a 5 degree of freedom(DOF) robotic manipulator in the presence of obstacles. Various possibilities for the position of obstacle was taken into consideration. An algorithm which takes into consideration the position of the obstacle and the path when there is no obstacle is present and finally determine a path between the points by avoiding the obstacle. The path is determined using cubic polynomial which ensure smooth motion of the robot. The non linear nature of the robotic manipulator is taken into consideration as well. 5 DOF Vi Microsystems Robot was modelled and analysed. Different paths are obtained to transverse between same points depending on the position of obstacles. The algorithm and calculations for trajectory determination is done using MATLAB simulations.