3D Path Planning For Articulated Arm In Dynamic Environment

Abstract

In this work we focus to solve the problem to move the Multi link Robotic arm in 3D environment which consist of obstacles .The multi-link arm is to be deployed in the bounded environment of Tokamac building ,where the motion of the arm inside the system should not damage the surface of the tokomak.

The articulated Arm robot has to reach to the destination point while avoiding the surfaces of the Tokamac .The multilink arm robot consist of n links with n-1 joints .Hence the algorithm has to consider the Inverse Kinematic parameters .

We use A* algorithm for designing the path from source to destination .This method nds the e_cient path while avoiding the obstacles in the way. The move- ment of each link along the planned path is guided through Target Triangle Inverse Kinematic method .

The Algorithm is implemented in 3D software Blender. For the verication of the implemented algorithm and Inverse Kinematic method 3D CAD software Delmia has been used.

For real time interfacing with the 3D CAD software Delmia since there is no library for serial port communication is available, a method is proposed that will provide soft real time interfacing through VBScript programming.