An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application
With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robo...
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| Format: | Article |
| Language: | Arabic |
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University of Information Technology and Communications
2023-06-01
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| Series: | Iraqi Journal for Computers and Informatics |
| Subjects: | |
| Online Access: | https://ijci.uoitc.edu.iq/index.php/ijci/article/view/405 |
| _version_ | 1797650378159816704 |
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| author | Kian Raheem qasim Yousif I. Al Mashhadany Esam T. Yassen |
| author_facet | Kian Raheem qasim Yousif I. Al Mashhadany Esam T. Yassen |
| author_sort | Kian Raheem qasim |
| collection | DOAJ |
| description | With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced by the design of their controllers. However, the majority of controllers devised up to this point were incapable of effectively resolving the nonlinearity and uncertainty issues of high-degree freedom manipulators in order to overcome these issues and enhance the track performance of high-degree freedom manipulators. Developing practical path-planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper. |
| first_indexed | 2024-03-11T15:59:24Z |
| format | Article |
| id | doaj.art-f10e96413aec437f9f9c59a09fc733ff |
| institution | Directory Open Access Journal |
| issn | 2313-190X 2520-4912 |
| language | Arabic |
| last_indexed | 2024-03-11T15:59:24Z |
| publishDate | 2023-06-01 |
| publisher | University of Information Technology and Communications |
| record_format | Article |
| series | Iraqi Journal for Computers and Informatics |
| spelling | doaj.art-f10e96413aec437f9f9c59a09fc733ff2023-10-25T07:52:40ZaraUniversity of Information Technology and CommunicationsIraqi Journal for Computers and Informatics2313-190X2520-49122023-06-01491668310.25195/ijci.v49i1.405368An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical ApplicationKian Raheem qasim0Yousif I. Al Mashhadany1Esam T. Yassen2University of Information Technology and CommunicationsUniversity of AnbarUniversity of AnbarWith technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced by the design of their controllers. However, the majority of controllers devised up to this point were incapable of effectively resolving the nonlinearity and uncertainty issues of high-degree freedom manipulators in order to overcome these issues and enhance the track performance of high-degree freedom manipulators. Developing practical path-planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper.https://ijci.uoitc.edu.iq/index.php/ijci/article/view/405bio-mechatronics systemsbiomedical robotics 6-degree of freedom (6dof)optimal trajectory planning |
| spellingShingle | Kian Raheem qasim Yousif I. Al Mashhadany Esam T. Yassen An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application Iraqi Journal for Computers and Informatics bio-mechatronics systems biomedical robotics 6-degree of freedom (6dof) optimal trajectory planning |
| title | An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application |
| title_full | An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application |
| title_fullStr | An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application |
| title_full_unstemmed | An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application |
| title_short | An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application |
| title_sort | analysis review optimal trajectory for 6 dof based intelligent controller in biomedical application |
| topic | bio-mechatronics systems biomedical robotics 6-degree of freedom (6dof) optimal trajectory planning |
| url | https://ijci.uoitc.edu.iq/index.php/ijci/article/view/405 |
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