Analysis of 3 RPS Robotic Platform Motion in SimScape and MATLAB GUI Environment

摘要

This paper presents a novel system of robotic assistance, which uses an optimization algorithm for human-machine collaborative work. With this development, the path of a robot is calculated, avoiding collision with obstacles and people placed into its workspace, in order to reach an object. As optimization algorithm, the outside penalty method with the variants of absolute value and quadratic penalty is used, taking the location of the operator and a safety distance as restriction. To define the operation of the robot in a virtual environment, we use a plane parallel to the base of the robot, moving it at different distances in order to simulate the interaction with the operator.