基于改进人工势场法的机械臂路径规划与仿真  

Path Planning and Simulation of Manipulator Based on Improved Artificial Potential Field Method

作　　者：闫莉[1] 郑佩 李雨菲 YAN Li;ZHENG Pei;LI Yufei(School of Mechatronic Engineering,Xi’an Technological University,Xi’an 710021,China)

机构地区：[1]西安工业大学机电工程学院,西安710021

出　　处：《自动化与仪表》2025年第4期34-39,共6页Automation & Instrumentation

摘　　要：多自由度机械臂已广泛应用于各个领域,该文以六自由度机械臂为研究对象,针对传统的人工势场算法在进行路径规划时容易产生目标不可达问题,提出了一种改进的人工势场算法,在原有的斥力函数中加入一个关于当前机械臂和目标点之间路径的参数,将原有斥力分为一个由障碍物指向机械臂,一个由机械臂指向目标点的两个方向不同的分斥力;由于机械臂在路径搜索运动过程中存在不稳定性,加入三次准均匀B样条来平滑优化规划出的路径。通过仿真验证结果表明,改进后的人工势场法可以克服传统的人工势场法路径规划中目标无法达到的问题,且添加三次准均匀B样条插值曲线,可以有效地解决机械臂运动时关节角突大的问题。Multi-degree-of-freedom robotic arms 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 prone to the unreachable target issue when performing path planning,an improved artificial potential field algorithm is proposed.A parameter related to the path between the current robotic arm and the target point is added to the original repulsive force function,and the original repulsive force is divided into two component repulsive forces with different directions,one pointing from the obstacle to the robotic arm and the other pointing from the robotic arm to the target point.Due to the instability existing in the path search and movement process of the robotic arm,the cubic quasi-uniform B-spline is added to smooth and optimize the planned path.Through simulation verification,the results show that the improved artificial potential field method can overcome the problem that the target cannot be reached in the path planning of the traditional artificial potential field method,and adding the cubic quasi-uniform B-spline interpolation curve can effectively solve the problem of sudden large joint angles during the movement of the robotic arm.

关 键 词：机械臂 D-H参数法 人工势场法 路径规划 B样条函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]