Analysis of the effectiveness path planning methods and algorithm for the anthropomorphic robot manipulator

Abstract

The article deals with the high-energy consumption of excessive anthropomorphic robots manipulators problem. Among the existing ways of solving this problem, solving the problems of energy-efficient traffic control methods of are chosen. Earlier on this topic, the authors developed mathematical methods for energy-efficient planning of the path of the anthropomorphic robot manipulator in the working area with a stationary obstacle. Earlier on this topic, the authors developed mathematical methods for energy-efficient motion path planning of the anthropomorphic robot manipulator in the working area with a stationary obstacle. The proposed methods have reduced computational complexity for real-time operation mode. The principle of the presented mathematical apparatus operation is to construct a virtual rectilinear energy-efficient path for moving the manipulator effector to a given position and then iteratively pushing the manipulator links out of the obstacle area to build the necessary movement route. The developed methods can be modified according to the necessary criteria of motion manipulator quality. This article presents the results of the new algorithm energy efficiency analysis that combines the previously described methods. A comparison with the selected analogue, the principle of which is based on the representation of objects in the form of oriented connected containers, is accomplished. The results of an experiments series on the simulation model implemented in MatLab show a reduction in the energy consumption of manipulators when performing targeted operations in the working area with or without an obstacle. A promising area of further research is the modification of the proposed mathematical apparatus for working in a zone with multiple stationary and dynamic obstacles, as well as the elimination of collisions when working with a human