For the following 2-DOF robot, its initial configuration is 0, = 0 and 0, = 0 and its final configuration is 0. = 1 / 2

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For The Following 2 Dof Robot Its Initial Configuration Is 0 0 And 0 0 And Its Final Configuration Is 0 1 2 1 (10.54 KiB) Viewed 27 times

For the following 2-DOF robot, its initial configuration is 0, = 0 and 0, = 0 and its final configuration is 0. = 1 / 2 and 0, = 1/2, the lengths of both links are 1 meter, and the = coordinates of the obstacle point b is (2,0.5).
b 1. Please use the potential field approach to plan a path for the robot so that it can move from its initial configuration to the final configuration without hitting the obstacle. You need to develop a MATLAB program to calculate the path for the robot. 2. After you complete the path planning for the robot, please use some figures/curves to present the path of the end-effector and the history of the joint variables. 3. Through using the path planning data you obtained in the above steps, please create the robot in the MATLAB Robotics Toolbox, and show an animation to demonstrate the successful path-planning process (i.e. demonstrate how the robot moves from its initial configuration to the final configuration along a fast, smooth and overshoot-free path without hitting the obstacle). a