In this work, we propose a novel artificial potential field off-line path planning algorithm for robot manipulators. The potential field is defined using navigation functions, and the parameters of the navigation function are defined as design variables of an optimization problem through which the minimum length of the path of control points on the manipulator links are achieved and the planned path is free of local minima. The applicability of the proposed algorithm is evaluated by applying it on a 5 degrees-of-freedom robot manipulator representing the human upper extremity to plan the so-called arm abduction and flexion motions in the presence of known workspace obstacles.
An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
18.06.2022
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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