Obstacle Avoidance Path Planning of Space Manipulator Based on Improved Artificial Potential Field Method

This paper proposes an approach about obstacle collision-free motion planning of space manipulator by utilizing a Configuration-Oriented Artificial Potential Field method in 3-D space environment. Firstly, the artificial potential field method, which is usually used in 2-D space, is extended to 3-D space. Secondly, improving the artificial potential field method enables to carry out obstacle avoidance planning for the configuration of entire space manipulator (including the end-effector and links). Finally, the approach is combined with the inverse kinematics calculation which is based on the Generalized Jacobian Matrix for planning a collision-free motion of space manipulator. At the end of the article, by simulating the method mentioned above, the validity of the proposed method is verified. © 2014, The Institution of Engineers (India).