Research on Dynamic Obstacle Avoidance Path Planning Method for Collaborative Robotic Arm Based on Improved APF Algorithm

摘要

Dynamic obstacle avoidance path planning is the basic key technology to ensure the safety of tightly coupled human-robot collaboration. In order to solve the problems of human obstacle envelope space abnormality, large mutation of motion trajectory and high uncertainty in the closely coupled human-robot collaboration scenario, an improved artificial potential field method was proposed and a dynamic obstacle avoidance experiment of the cooperative robotic arm was carried out. The results show that the improved artificial potential field method effectively solves the problems existing in the traditional artificial potential field method, can successfully reach the target point in complex environments, and can effectively support the continuous and safe operation of the robotic arm in the scenario of tight coupling human-robot collaboration.