Comparative Study between Joint Space and Cartesian Space Path Planning for Two-Link Robot Manipulator using Fuzzy Logic


Abstract –This paper focuses on the comparison of two proposed fuzzy logic-basedpath planning systems for a 2-DOF robot manipulator. The first system is joint spacepath planning and the second system is Cartesian space path planning. The proposedplanning systems were composed of several separate fuzzy units which individuallycontrol each manipulator joint. For the 1st system, the main inputs of the two fuzzyblocks were the current joint position and the difference in joint angle between the goaland the current positions. For the 2ndsystem the main inputs were the new x-axis errorand the current x-axis value of the robot end-effector for the first fuzzy bock, and thenew y-axis error and the current y-axis value of the robot end-effector for the secondfuzzy block.The objectives were to move the arm from the start configuration to thegoal configuration. The comparison of the simulation results shows clearly that theresults of the second system is better and the robot reached the goal configuration in thetwo cases successfully with relatively small error in the order of (0.00041775 m in xaxis;and