Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm
Aiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system，and it is easy to fall into the local extreme point，the artificial potential field method is improved...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-06-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.012 |
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| author | Haonan Ma Zhian Zhang Qingliang Li |
| author_facet | Haonan Ma Zhian Zhang Qingliang Li |
| author_sort | Haonan Ma |
| collection | DOAJ |
| description | Aiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system，and it is easy to fall into the local extreme point，the artificial potential field method is improved. Use the D-H method to analyze the kinematics of the dual-manipulator system，use the cylindrical-hemisphere bounding box model as the collision detection model. The construction of a new potential energy function dual-manipulator system is used to plan the path，use the method of constructing virtual target points to help the manipulator escape local extreme points. Simulation experiments show that the improved algorithm overcomes the shortcomings of local minima and realizes the path planning of the dual-manipulator system. |
| format | Article |
| id | doaj-art-e9948d5d712b4e63bb47cea973b6975b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e9948d5d712b4e63bb47cea973b6975b2025-01-10T14:48:47ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-06-0145778411255429Improved Artificial Potential Field Method for Dual-manipulator Path Planning AlgorithmHaonan MaZhian ZhangQingliang LiAiming at the problem that the traditional artificial potential field method cannot constrain the overall posture of the dual manipulator system when planning the path of the dual manipulator system，and it is easy to fall into the local extreme point，the artificial potential field method is improved. Use the D-H method to analyze the kinematics of the dual-manipulator system，use the cylindrical-hemisphere bounding box model as the collision detection model. The construction of a new potential energy function dual-manipulator system is used to plan the path，use the method of constructing virtual target points to help the manipulator escape local extreme points. Simulation experiments show that the improved algorithm overcomes the shortcomings of local minima and realizes the path planning of the dual-manipulator system.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.012Dual manipulator systemPath planningArtificial potential field methodLocal minimum |
| spellingShingle | Haonan Ma Zhian Zhang Qingliang Li Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm Jixie chuandong Dual manipulator system Path planning Artificial potential field method Local minimum |
| title | Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm |
| title_full | Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm |
| title_fullStr | Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm |
| title_full_unstemmed | Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm |
| title_short | Improved Artificial Potential Field Method for Dual-manipulator Path Planning Algorithm |
| title_sort | improved artificial potential field method for dual manipulator path planning algorithm |
| topic | Dual manipulator system Path planning Artificial potential field method Local minimum |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.06.012 |
| work_keys_str_mv | AT haonanma improvedartificialpotentialfieldmethodfordualmanipulatorpathplanningalgorithm AT zhianzhang improvedartificialpotentialfieldmethodfordualmanipulatorpathplanningalgorithm AT qingliangli improvedartificialpotentialfieldmethodfordualmanipulatorpathplanningalgorithm |