Analysis of Trajectory Optimization for Solving Tower of Hanoi Problem using Industrial Manipulator
Ahmed Iqdymat, Grigore Stâmâtescu · 2023
This paper presents implementation and analysis of three different trajectories of an industrial manipulator for solving the Tower of Hanoi problem. ABB’s robot IRB120 was simulated in RobotStudio. MATLAB code was used to plan the steps to solve the Tower of Hanoi problem. MATLAB Simulink was then used to solve the robot inverse kinematics to find the joint angles for achieving the desired position for the end effector. Finalized trajectory was then forwarded to RobotStudio that simulated the whole trajectory. Distance travelled by end effector was calculated for each trajectory. Time taken by the robot to complete the task was estimated using RobotStudio simulation. Based on these distances and time durations, it has been concluded that circular trajectories are more efficient than linear or combination of linear and circular trajectories.