Obstacle Avoidance Path Planning of Manipulator Based on Proximity

被引：0
|
作者：
Li L. [1 ,2 ,3 ,4 ]
Chen H. [1 ,3 ]
Wang T. [1 ,2 ,3 ]
Zhang Q. [1 ,3 ]
Wang G. [5 ,6 ]
Tian Y. [1 ,2 ]
Peng Y. [1 ,3 ]
Luo J. [1 ]
机构：
[1] School of Mechatronic Engineering and Automation, Shanghai University, Shanghai
[2] Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai
[3] School of Artificial Intelligence, Shanghai University, Shanghai
[4] Jiangsu Province Key Laboratory of Advanced Robot Technology, Suzhou
[5] Shanghai Aerospace Control Technology Institute, Shanghai
[6] Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai
来源：
Jiqiren/Robot | 2022年 / 44卷 / 05期
关键词：
artificial potential field method; manipulator; path planning; proximity; sensor array;
D O I：
10.13973/j.cnki.robot.210302
中图分类号：
学科分类号：
摘要：
An obstacle avoidance path planning method of manipulator based on proximity is proposed. Firstly, the concept of “movement direction” of link is defined for the obstacle perception problem based on sparse distance information of proximity sensor array. The sensors in the movement direction of link are read preferentially to reduce the read period. The nearest obstacle surface is modeled as the “imaginary cone”, through whose vertex a “safety plane” is made. The link can’t collide with the safety plane in the movement process. Secondly, an artificial potential field method based on potential function and joint space is applied to the obstacle avoidance path planning problem. According to the proposed obstacle perception method, an improved method based on “detour” is proposed to solve the local optimum problem of the artificial potential field method. Finally, the proposed method is verified on the forearm of a UR10 robot, and the experimental results show that the proposed method is effective, robust and real-time. © 2022 Chinese Academy of Sciences. All rights reserved.
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页码：601 / 612
页数：11
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