Implementation for manipulator motion planning using MATLAB/Simulink
- Resource Type
- Conference
- Authors
- Mo, Qiaoliang; Li, Kene; Wang, Wenxin; Ma, Yuru
- Source
- 2021 IEEE International Conference on Power, Intelligent Computing and Systems (ICPICS) Power, Intelligent Computing and Systems (ICPICS), 2021 IEEE International Conference on. :553-557 Jul, 2021
- Subject
- Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Tracking
Software packages
Simulation
Conferences
Manipulators
Hardware
Planning
E47 algorithm
motion planning
MATLAB
Simulink
- Language
This paper presents a numerical algorithm (i.e., E47 algorithm) for solving the motion planning problem of a manipulator. We use MATLAB to simulate the motion planning problem of planar 6-DOF manipulator. Simulation results show the effectiveness of the E47 algorithm, and then we built the hardware implementation environment of the algorithm through Simulink. The algorithm was successfully deployed on the Arduino Due demo-board. The E47 algorithm can be successfully applied to the motion planning and actual control of a planar 6-DOF manipulator.