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Robot Arm Potential Field Navigation

A path planner for an n-link planar robot arm moving among polygonal obstacles (or point obstacles).

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Updated 09 Dec 2019

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A path planner for an n-link planar robot arm moving among polygonal
obstacles (or point obstacles).

Video overview at https://youtu.be/xqTdsxyIths

The video uses workspace potential fields that attract the origins of
the DH frames to their goal locations while avoiding obstacles. The
robot is blue, the goal configuration is green. The attractive forces
to the goal are drawn with green arrows. The obstacles (red) are point
lasers which the robot must avoid. When the robot is within the
avoidance region (pink) of an obstacle it experiences repulsive forces
(blue arrows). The shortest distance from each obstacle to each link is
drawn in magenta.

Based off chapter 5.2 in "Robot Modeling and Control" by Spong, Hutchinson, and Vidyasagar

Aaron T. Becker, 04-13-2016 -- 11/14/2019, atbecker@uh.edu
This solution uses code by Mary Burbage, MS 2017.

Cite As

Aaron T. Becker's Robot Swarm Lab (2020). Robot Arm Potential Field Navigation (https://www.mathworks.com/matlabcentral/fileexchange/73617-robot-arm-potential-field-navigation), MATLAB Central File Exchange. Retrieved .

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Updates

1.0.1

added screen shot

MATLAB Release Compatibility
Created with R2019b
Compatible with any release
Platform Compatibility
Windows macOS Linux