Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot
نویسندگان
چکیده
Abstract. Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method 5 degrees freedom (5 DOF) robot based on improved artificial potential field proposed. Firstly, connecting-rod coordinate system DOF Cartesian established to determine equation motion trajectory robot. Secondly, view problem local minimum (APF) and failure path planning, APF rapidly exploring random tree (RRT) algorithm proposed, which reduces length enhances smoothness. Finally, through simulation experiments mechanical arm, effective verified. The experimental results show that proposed can plan optimal meet technical requirements operations.
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2023
ISSN: ['2191-9151', '2191-916X']
DOI: https://doi.org/10.5194/ms-14-87-2023