Dynamic path planning and expert control of the SIR-3 robotic manipulator

This paper presents a path planning algorithm, using a rule-based expert system concept, for real-time control of a robotic manipulator. The algorithm is able to generate three different paths to enable the manipulator to avoid an obstacle and then to select the shortest or the least-segmented path to reach the end point. This algorithm requires very little computation time as compared to some techniques. A graphical presentation of the result is also provided on-screen together with a 3D display to enhance the user´s visualization of the results obtained. Simulation results showed that with the input data, the algorithm is able to generate the appropriate path and compute the necessary link angles to effect a movement of the links of the manipulator based on the generated path data