research-article

Obstacle Avoidance Path Planning for Double Manipulators Based on Improved Artificial Potential Field Method

Authors:

Yue SunAuthors Info & Claims

ICITEE '19: Proceedings of the 2nd International Conference on Information Technologies and Electrical Engineering

Article No.: 50, Pages 1 - 5

https://doi.org/10.1145/3386415.3386997

Published: 30 May 2020 Publication History

Abstract

In this paper, an obstacle avoidance path planning algorithm based on improved artificial potential field method is proposed for a double six-degree-of-freedom manipulator. In the first, obstacle avoidance motion programming is carried out for the main arm in view of static obstacles, and path programming for the main arm is completed. Secondly, the main arm is regarded as the dynamic obstacle when the slave arm moves, and the path of obstacle avoidance is planned for the slave arm. Selecting new potential function by traditional artificial potential field method, and carrying out the obstacle avoidance path programming of the dual manipulator. The simulation results show that the method meets the requirements of double manipulator obstacle avoidance, and can plan collision free path for the manipulator.

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Cited By

Liu JYap HKhairuddin A(2024)Review on Motion Planning of Robotic Manipulator in Dynamic EnvironmentsJournal of Sensors10.1155/2024/59695122024:1Online publication date: 21-Nov-2024
https://doi.org/10.1155/2024/5969512
Zhao JZhao QWang JZhang XWang Y(2021)Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field2021 33rd Chinese Control and Decision Conference (CCDC)10.1109/CCDC52312.2021.9601861(3018-3025)Online publication date: 22-May-2021
https://doi.org/10.1109/CCDC52312.2021.9601861
Li HGong DYu J(2021)An obstacles avoidance method for serial manipulator based on reinforcement learning and Artificial Potential FieldInternational Journal of Intelligent Robotics and Applications10.1007/s41315-021-00172-55:2(186-202)Online publication date: 17-Apr-2021
https://doi.org/10.1007/s41315-021-00172-5

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ICITEE '19: Proceedings of the 2nd International Conference on Information Technologies and Electrical Engineering

December 2019

870 pages

ISBN:9781450372930

DOI:10.1145/3386415

Copyright © 2019 ACM.

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Published: 30 May 2020

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ICITEE-2019

ICITEE-2019: 2nd International Conference on Information Technologies and Electrical Engineering

December 6 - 7, 2019

Hunan, Zhuzhou, China

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Cited By

Liu JYap HKhairuddin A(2024)Review on Motion Planning of Robotic Manipulator in Dynamic EnvironmentsJournal of Sensors10.1155/2024/59695122024:1Online publication date: 21-Nov-2024
https://doi.org/10.1155/2024/5969512
Zhao JZhao QWang JZhang XWang Y(2021)Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field2021 33rd Chinese Control and Decision Conference (CCDC)10.1109/CCDC52312.2021.9601861(3018-3025)Online publication date: 22-May-2021
https://doi.org/10.1109/CCDC52312.2021.9601861
Li HGong DYu J(2021)An obstacles avoidance method for serial manipulator based on reinforcement learning and Artificial Potential FieldInternational Journal of Intelligent Robotics and Applications10.1007/s41315-021-00172-55:2(186-202)Online publication date: 17-Apr-2021
https://doi.org/10.1007/s41315-021-00172-5

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