Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method
An obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for dual 6-DOF manipulator. Firstly，the cooperative working space of double manipulator is analyzed，and the possibility of self-collision is confirmed. Secondly，obstacle avoidance motion pla...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.007 |
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| _version_ | 1841547438069907456 |
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| author | Xue Yang Yu Zhicheng Wu Haidong Zhang Ning Sun Yue |
| author_facet | Xue Yang Yu Zhicheng Wu Haidong Zhang Ning Sun Yue |
| author_sort | Xue Yang |
| collection | DOAJ |
| description | An obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for dual 6-DOF manipulator. Firstly，the cooperative working space of double manipulator is analyzed，and the possibility of self-collision is confirmed. Secondly，obstacle avoidance motion planning is carried out for the main arm against static obstacles，and path planning for the main arm is completed. Then，the main arm is taken as the dynamic obstacle when the slave arm moves，and obstacle avoidance motion path is planned for the slave arm. The new potential energy function is used to replace the potential energy function of the traditional artificial potential field method to carry out obstacle avoidance path planning for the double manipulator. Since the traditional artificial potential field method is easy to fall into the defect of local minimum value in the obstacle avoidance path planning of the manipulator，the virtual attraction point is added to avoid this situation. Simulation results show that this method is easily realized and can meet the requirements of double manipulator obstacle avoidance. It can effectively plan a collision-free path for the dual 6-DOF manipulator. |
| format | Article |
| id | doaj-art-b9a45150159f4ca3b759ebd424648fdf |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b9a45150159f4ca3b759ebd424648fdf2025-01-10T14:44:17ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-03-0144394531442089Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field MethodXue YangYu ZhichengWu HaidongZhang NingSun YueAn obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for dual 6-DOF manipulator. Firstly，the cooperative working space of double manipulator is analyzed，and the possibility of self-collision is confirmed. Secondly，obstacle avoidance motion planning is carried out for the main arm against static obstacles，and path planning for the main arm is completed. Then，the main arm is taken as the dynamic obstacle when the slave arm moves，and obstacle avoidance motion path is planned for the slave arm. The new potential energy function is used to replace the potential energy function of the traditional artificial potential field method to carry out obstacle avoidance path planning for the double manipulator. Since the traditional artificial potential field method is easy to fall into the defect of local minimum value in the obstacle avoidance path planning of the manipulator，the virtual attraction point is added to avoid this situation. Simulation results show that this method is easily realized and can meet the requirements of double manipulator obstacle avoidance. It can effectively plan a collision-free path for the dual 6-DOF manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.007Path planning |
| spellingShingle | Xue Yang Yu Zhicheng Wu Haidong Zhang Ning Sun Yue Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method Jixie chuandong Path planning |
| title | Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method |
| title_full | Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method |
| title_fullStr | Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method |
| title_full_unstemmed | Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method |
| title_short | Obstacle Avoidance Path Planning for Double Manipulator based on Improved Artificial Potential Field Method |
| title_sort | obstacle avoidance path planning for double manipulator based on improved artificial potential field method |
| topic | Path planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.007 |
| work_keys_str_mv | AT xueyang obstacleavoidancepathplanningfordoublemanipulatorbasedonimprovedartificialpotentialfieldmethod AT yuzhicheng obstacleavoidancepathplanningfordoublemanipulatorbasedonimprovedartificialpotentialfieldmethod AT wuhaidong obstacleavoidancepathplanningfordoublemanipulatorbasedonimprovedartificialpotentialfieldmethod AT zhangning obstacleavoidancepathplanningfordoublemanipulatorbasedonimprovedartificialpotentialfieldmethod AT sunyue obstacleavoidancepathplanningfordoublemanipulatorbasedonimprovedartificialpotentialfieldmethod |