A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms
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 hom...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-05-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/11/4022 |
| _version_ | 1797491752991457280 |
|---|---|
| author | Gerardo C. Velez-Lopez Hector Vazquez-Leal Luis Hernandez-Martinez Arturo Sarmiento-Reyes Gerardo Diaz-Arango Jesus Huerta-Chua Hector D. Rico-Aniles Victor M. Jimenez-Fernandez |
| author_facet | Gerardo C. Velez-Lopez Hector Vazquez-Leal Luis Hernandez-Martinez Arturo Sarmiento-Reyes Gerardo Diaz-Arango Jesus Huerta-Chua Hector D. Rico-Aniles Victor M. Jimenez-Fernandez |
| author_sort | Gerardo C. Velez-Lopez |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T00:53:46Z |
| format | Article |
| id | doaj.art-5c159b86e39442b48023cf404db97549 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T00:53:46Z |
| publishDate | 2022-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5c159b86e39442b48023cf404db975492023-11-23T14:47:26ZengMDPI AGSensors1424-82202022-05-012211402210.3390/s22114022A Novel Collision-Free Homotopy Path Planning for Planar Robotic ArmsGerardo C. Velez-Lopez0Hector Vazquez-Leal1Luis Hernandez-Martinez2Arturo Sarmiento-Reyes3Gerardo Diaz-Arango4Jesus Huerta-Chua5Hector D. Rico-Aniles6Victor M. Jimenez-Fernandez7Electronics Department, National Institute for Astrophysics, Optics and Electronics, Luis Enrique Erro 1, Santa María Tonantzintla, Cholula 72840, Puebla, MexicoFacultad de Instrumentacion Electronica, Universidad Veracruzana, Cto. Gonzalo Aguirre Beltran S/N, Xalapa 91000, Veracruz, MexicoElectronics Department, National Institute for Astrophysics, Optics and Electronics, Luis Enrique Erro 1, Santa María Tonantzintla, Cholula 72840, Puebla, MexicoElectronics Department, National Institute for Astrophysics, Optics and Electronics, Luis Enrique Erro 1, Santa María Tonantzintla, Cholula 72840, Puebla, MexicoInstituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis Donaldo Colosio Murrieta S/N, Poza Rica 93230, Veracruz, MexicoInstituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis Donaldo Colosio Murrieta S/N, Poza Rica 93230, Veracruz, MexicoElectrical Engineering Department, North Central College, 30 N. Brainard St., Naperville, IL 60540, USAFacultad de Instrumentacion Electronica, Universidad Veracruzana, Cto. Gonzalo Aguirre Beltran S/N, Xalapa 91000, Veracruz, MexicoAchieving 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.https://www.mdpi.com/1424-8220/22/11/4022collision-free path planningautonomous robotrobot armhomotopy continuation methods |
| spellingShingle | Gerardo C. Velez-Lopez Hector Vazquez-Leal Luis Hernandez-Martinez Arturo Sarmiento-Reyes Gerardo Diaz-Arango Jesus Huerta-Chua Hector D. Rico-Aniles Victor M. Jimenez-Fernandez A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms Sensors collision-free path planning autonomous robot robot arm homotopy continuation methods |
| title | A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms |
| title_full | A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms |
| title_fullStr | A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms |
| title_full_unstemmed | A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms |
| title_short | A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms |
| title_sort | novel collision free homotopy path planning for planar robotic arms |
| topic | collision-free path planning autonomous robot robot arm homotopy continuation methods |
| url | https://www.mdpi.com/1424-8220/22/11/4022 |
| work_keys_str_mv | AT gerardocvelezlopez anovelcollisionfreehomotopypathplanningforplanarroboticarms AT hectorvazquezleal anovelcollisionfreehomotopypathplanningforplanarroboticarms AT luishernandezmartinez anovelcollisionfreehomotopypathplanningforplanarroboticarms AT arturosarmientoreyes anovelcollisionfreehomotopypathplanningforplanarroboticarms AT gerardodiazarango anovelcollisionfreehomotopypathplanningforplanarroboticarms AT jesushuertachua anovelcollisionfreehomotopypathplanningforplanarroboticarms AT hectordricoaniles anovelcollisionfreehomotopypathplanningforplanarroboticarms AT victormjimenezfernandez anovelcollisionfreehomotopypathplanningforplanarroboticarms AT gerardocvelezlopez novelcollisionfreehomotopypathplanningforplanarroboticarms AT hectorvazquezleal novelcollisionfreehomotopypathplanningforplanarroboticarms AT luishernandezmartinez novelcollisionfreehomotopypathplanningforplanarroboticarms AT arturosarmientoreyes novelcollisionfreehomotopypathplanningforplanarroboticarms AT gerardodiazarango novelcollisionfreehomotopypathplanningforplanarroboticarms AT jesushuertachua novelcollisionfreehomotopypathplanningforplanarroboticarms AT hectordricoaniles novelcollisionfreehomotopypathplanningforplanarroboticarms AT victormjimenezfernandez novelcollisionfreehomotopypathplanningforplanarroboticarms |