SoC-based Design and Optimization of Robotic Arm Collision Avoidance Control System

Abstract

The research on robotic arm represents the development of mechatronics technology in recent years. This study presents a robotic arm control system based on system-on-chip (SoC). For the robotic collision avoidance control, this paper builds kinematic model for 6-degree-of-freedom (6-DOF) robotic arm and implement probabilistic roadmap (PRM) algorithm on the SoC. Furthermore, an optimized PRM is presented to improve motion path consistency by introducing a fixed nodes generating function. The experimental results are given to prove the efficiency of the robotic arm control system and the optimized PRM algorithm can improve the consistency of the motion path.