The program calculates the movements of a mechanical arm necessary to reach for a given point in space, avoiding obstacles at the same time. After pressing Play button the arm starts to reach for the destination point trying to bypass the obstacles. The mass of the arm joints aslo influences the arm movement. THe path search is being made with a gradient-like method with a dynamic penalty function: when colliding with an obstacle the program remembers the colliding point. Sometimes the arm sticks in a local optimum never reaching the destination point. The arm, obstacles and the destination point can be dragged around the scene by mouse.
This program was a course work for a student.