Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot
<p>Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method of a 5 degrees of freedom (5 DOF) bending robot based on improved artificial potential field is proposed. Firstly, a connecting-rod coordinate system of the 5 ...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2023-02-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/14/87/2023/ms-14-87-2023.pdf |
| Summary: | <p>Path planning is a key technique used in the operation of
bending robots. In this paper, an obstacle-avoidance path-planning method of
a 5 degrees of freedom (5 DOF) bending robot based on improved artificial
potential field is proposed. Firstly, a connecting-rod coordinate system of
the 5 DOF Cartesian bending robot is established to determine an equation of
motion trajectory of the bending robot. Secondly, in view of the problem
of the local minimum in the artificial potential field (APF) method and
the failure of path planning, an improved APF path-planning method based on a
rapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of
the path and enhances path smoothness. Finally, through simulation and
obstacle-avoidance experiments on the path of a mechanical arm, effective
path planning based on the improved APF method is verified. The experimental
results show that the proposed path-planning method can plan an optimal path
and meet the technical requirements of bending robot operations.</p> |
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| ISSN: | 2191-9151 2191-916X |