Path planning and simulation of Robotic arm based on improved artificial potential field method
YAN Li, pei zheng, Yufei Li · Research Square · 2023
Abstract Multi-degree-of-freedom Robotic arm have been widely used in various fields,In this paper, taking the six-degree-of-freedom Robotic arm as the research object.Aiming at the problem that the traditional artificial potential field algorithm is easy to produce the target unreachable during path planning, an improved artificial potential field algorithm is proposed and applied to the path planning of the Robotic arm.The way to improve the algorithm is to add a parameter about the path between the current robotic arm and the target point to the original repulsion function, The original repulsive force is divided into two different directions: one is directed from the obstacle to the Robotic arm, and the other is directed from the Robotic arm to the target point. Due to the instability of the Robotic arm during the path search movement, a three-time quasi-uniform B-spline will be added to smoothly optimize the planned path.