Problem definition:

• Moving a robotic arm

Problem constraints:

• Length of the arm
• x-y-z rotational axes

Problem parameters:

• Target coordinates
• Speed of movement

Solution steps:

• Flow of moving
• Turning
• Checking for safety

Options in each step:

• Milestone locations reached?
• Target location reached?
• Safety margins exceeded?

Solution output:

• Insecure movement,
• Target coordinates reached

Result

---

Simple robotic arm movement algorithm

• Receive target coordinates

• Begin movement loop

• If movement requires x axis rotation, rotate x axis as much as Δx

• Check security sensors, if an insecure movement has occurred, abort

• If movement requires y axis rotation, rotate y axis as much as Δy

• Check security sensors, if an insecure movement has occurred, abort

• If movement requires z axis rotation, rotate z axis as much as Δz

• Check security sensors, if an insecure movement has occurred, abort

• If target coordinates were reached, abort

• Else continue movement loop

Please expand these steps further and draw one or more flow diagrams to help the software developers implement the algorithm.

---