For the purpose of path planning it is useful to work with the configuration space, whose variables are the angles of the arm. This program will be able to transform normal xy coordinates of a SCARA robot and also transform the obstacles that will be in his surroundings to the C-Space. Applying some sort of path finding algorithm such as A* the fastest movement will be executed.
I divided the key concepts of the algorithm in various subfolders (click on images to see it in action).
| Topics | GIF | Summary |
|---|---|---|
| 2. Detect point in polygon |  |
Ray Trace mouse to check if it is inside a drawn polygon. |
| 3. Polygon collision |  |
Polygons intersect with each other. |
| 4. Scara Inverse Kinematics |  |
2 DoF(degrees of freedom) scara arm follows mouse with inverse kinematics |