AN ANALYSIS REVIEW: OPTIMAL TRAJECTORY FOR 6-DOF-BASED INTELLIGENT CONTROLLER IN BIOMEDICAL APPLICATION
Kian Raheem Qasim *, Yousif I. Al MAshhadany2, Esam Taha Yassen 3
1University of Information Technology and Communications, Baghdad, Iraq
2University of Anbar / College of Engineering/ Department of Electrical Engineering, Anba, Iraq
3University of Anbar / / College of computer sience and information technology r, Anba, Iraq
With advances in automation and robot technology, robots have begun to be widely used in industrial, agricultural, and medical fields, among many other fields. Optimizing the path planning of robot manipulators is one of the core areas of robot research, and it has great research prospects. The precise robot manipulator tracks can improve the efficiency of various robot tasks, such as workshop operations, crop collection, medical surgery and so on. Robot manipulator trajectory planning is one of the core robot technologies, and the design of controllers can improve the trajectory accuracy of manipulators. However, most controllers designed at this point could not effectively solve the nonlinearity and uncertainty problems of high-degree freedom manipulators to overcome these problems and improve track performance for high degree of freedom manipulators. Developing practical path planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper.
Keywords: Bio-mechatronics systems Biomedical Robotics, 6-Degree o f Freedom (6DoF), Optimal Trajectory Planning