Generalized  Procedure for Determining the Collision-Free Trajectory for a Robotic Arm

Al-Sharo Yasser Mohammad; Abu-Jassar Amer Tahseen; Sotnik S.; Lyashenko V.

Публікація:
Generalized Procedure for Determining the Collision-Free Trajectory for a Robotic Arm

dc.contributor.author	Al-Sharo Yasser Mohammad
dc.contributor.author	Abu-Jassar Amer Tahseen
dc.contributor.author	Sotnik S.
dc.contributor.author	Lyashenko V.
dc.date.accessioned	2023-08-26T09:03:47Z
dc.date.available	2023-08-26T09:03:47Z
dc.date.issued	2023
dc.description.abstract	Robotic systems play an important role in the development and modernization processes of production, facilitation of labor, and human life. The robotic manipulators are outstanding among such systems. Such robots can be used for various spheres of their application. In this case, there is the manipulator’s effective control problem in the working area, of which there may be various obstacles. Therefore, a procedure is required to find the optimal path for moving the robotic arm. To develop such a procedure, the literature was reviewed, and the structural diagram of the ontrol system of such a robot and its components was summarized. It proposed a mathematical formalization of the search for the optimal path to move the robot arm, an algorithm based on a modified method of navigation graphs, to realize the more natural movement of the robot arm. Experimental studies were conducted with different numbers of objects on the path of robot arm movement, which were combined into groups. The temporal results of this process are presented in a diagram.
dc.identifier.citation	Al-Sharo Y. M. Generalized Procedure for Determining the Collision-Free Trajectory for a Robotic Arm / Al-Sharo Y. M., Abu-Jassar A. T., Sotnik S., Lyashenko V. // Tikrit Journal of Engineering Sciences, 30(2), 142-151.
dc.identifier.issn	1813-162X
dc.identifier.uri	https://openarchive.nure.ua/handle/document/23982
dc.language.iso	en
dc.publisher	IRAQI
dc.subject	Robot
dc.subject	Trajectory
dc.title	Generalized Procedure for Determining the Collision-Free Trajectory for a Robotic Arm
dc.type	Article
dspace.entity.type	Publication