基于改进人工势场的5自由度弯曲机器人避障路径规划

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-02-24 DOI:10.5194/ms-14-87-2023

Q. Jiang, Kai Cai, Fengyu Xu

{"title":"基于改进人工势场的5自由度弯曲机器人避障路径规划","authors":"Q. Jiang, Kai Cai, Fengyu Xu","doi":"10.5194/ms-14-87-2023","DOIUrl":null,"url":null,"abstract":"Abstract. Path planning is a key technique used in the operation of\nbending robots. In this paper, an obstacle-avoidance path-planning method of\na 5 degrees of freedom (5 DOF) bending robot based on improved artificial\npotential field is proposed. Firstly, a connecting-rod coordinate system of\nthe 5 DOF Cartesian bending robot is established to determine an equation of\nmotion trajectory of the bending robot. Secondly, in view of the problem\nof the local minimum in the artificial potential field (APF) method and\nthe failure of path planning, an improved APF path-planning method based on a\nrapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of\nthe path and enhances path smoothness. Finally, through simulation and\nobstacle-avoidance experiments on the path of a mechanical arm, effective\npath planning based on the improved APF method is verified. The experimental\nresults show that the proposed path-planning method can plan an optimal path\nand meet the technical requirements of bending robot operations.\n","PeriodicalId":18413,"journal":{"name":"Mechanical Sciences","volume":" ","pages":""},"PeriodicalIF":1.0000,"publicationDate":"2023-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot\",\"authors\":\"Q. Jiang, Kai Cai, Fengyu Xu\",\"doi\":\"10.5194/ms-14-87-2023\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract. Path planning is a key technique used in the operation of\\nbending robots. In this paper, an obstacle-avoidance path-planning method of\\na 5 degrees of freedom (5 DOF) bending robot based on improved artificial\\npotential field is proposed. Firstly, a connecting-rod coordinate system of\\nthe 5 DOF Cartesian bending robot is established to determine an equation of\\nmotion trajectory of the bending robot. Secondly, in view of the problem\\nof the local minimum in the artificial potential field (APF) method and\\nthe failure of path planning, an improved APF path-planning method based on a\\nrapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of\\nthe path and enhances path smoothness. Finally, through simulation and\\nobstacle-avoidance experiments on the path of a mechanical arm, effective\\npath planning based on the improved APF method is verified. The experimental\\nresults show that the proposed path-planning method can plan an optimal path\\nand meet the technical requirements of bending robot operations.\\n\",\"PeriodicalId\":18413,\"journal\":{\"name\":\"Mechanical Sciences\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":1.0000,\"publicationDate\":\"2023-02-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanical Sciences\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.5194/ms-14-87-2023\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanical Sciences","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.5194/ms-14-87-2023","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}

引用次数: 1

摘要

摘要路径规划是折叠机器人操作中的一项关键技术。本文提出了一种基于改进人工势场的5自由度弯曲机器人避障路径规划方法。首先，建立了五自由度笛卡尔弯曲机器人的连杆坐标系，确定了弯曲机器人的运动轨迹方程。其次，针对人工势场（APF）方法中的局部极小值问题和路径规划的失败，提出了一种基于随机树算法的改进型APF路径规划方法，该方法缩短了路径长度，提高了路径的平滑性。最后，通过对机械臂路径的仿真和避障实验，验证了基于改进型APF方法的路径规划的有效性。实验结果表明，所提出的路径规划方法能够规划出最优路径，满足弯曲机器人操作的技术要求。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot

Abstract. Path planning is a key technique used in the operation of bending robots. In this paper, an obstacle-avoidance path-planning method of a 5 degrees of freedom (5 DOF) bending robot based on improved artificial potential field is proposed. Firstly, a connecting-rod coordinate system of the 5 DOF Cartesian bending robot is established to determine an equation of motion trajectory of the bending robot. Secondly, in view of the problem of the local minimum in the artificial potential field (APF) method and the failure of path planning, an improved APF path-planning method based on a rapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of the path and enhances path smoothness. Finally, through simulation and obstacle-avoidance experiments on the path of a mechanical arm, effective path planning based on the improved APF method is verified. The experimental results show that the proposed path-planning method can plan an optimal path and meet the technical requirements of bending robot operations.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.