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

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.