Path Planning for Obstacle Avoidance of Robot Arm Based on Improved Potential Field Method

Path Planning for Obstacle Avoidance of Robot Arm Based on Improved Potential Field Method

In medical and surgical scenarios, the trajectory planning of a collaborative robot arm is a difficult problem. The artificial potential field (APF) algorithm is a classic method for robot trajectory planning, which has the characteristics of good real-time performance and low computing consumption....

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Bibliographic Details
Main Authors: Xinkai Xia, Tao Li, Shengbo Sang, Yongqiang Cheng, Huanzhou Ma, Qiang Zhang, Kun Yang
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Sensors
Subjects:
surgical robot
medical robot
human–robot interaction
trajectory planning
Online Access:https://www.mdpi.com/1424-8220/23/7/3754

Internet

https://www.mdpi.com/1424-8220/23/7/3754

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