@inproceedings{daeafec42a0f463284da102bbbaeed40,
title = "Obstacle Avoidance of Manipulator Based on Artificial Potential Field in Joint Space",
abstract = "In order to reach the target pose with the least amount of joint motion and implement the obstacle avoidance, an improved artificial potential field (APF) for the manipulator in the joint space is proposed in this study. The kinematic model of the manipulator is established by using the modified D-H method. The simplified model of manipulator and obstacles are established, and the potential collision detection algorithm is realized by analyzing the relative position relationship. The potential field gravity is mapped in the joint space, and the potential field repulsion received by each connecting rod is decomposed into the first three joint spaces for potential field force synthesis, so as to reach the target pose under the guidance of resultant force. The proposed APF algorithm is validated by the experiments on the UR3e manipulator.",
keywords = "artificial potential field, manipulator, obstacle avoidance",
author = "Yu Bai and Yipeng Wang and Weihua Li and Jianfeng Wang",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 36th Chinese Control and Decision Conference, CCDC 2024 ; Conference date: 25-05-2024 Through 27-05-2024",
year = "2024",
doi = "10.1109/CCDC62350.2024.10588257",
language = "英语",
series = "Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5792--5797",
booktitle = "Proceedings of the 36th Chinese Control and Decision Conference, CCDC 2024",
address = "美国",
}