6-DOF Robotic Obstacle Avoidance Path Planning Based on Artificial Potential Field Method

摘要

In this paper, a whole-arm path planning algorithm for 6-DOF industrial robot based on artificial potential field method is proposed. Multi-station conversion system used for welding robots. First, the environment is monitored by sensors and simplify obstacles and robotic arms. Then transform the Cartesian space obstacle into the C space of the manipulator through the geometric relationship, thus forming the free motion space of the robot arm, which provides conditions for the collision-free path planning of the manipulator. Finally, according to the obstacle repulsive vector summation and target point attraction vector, realize the intuitive rejection reaction, actively avoid the collision of the robot arm, and finally reach the target. We have successfully demonstrated our system on the MA1440 industrial robot.