Method for obstacle avoidance planning of redundant robot arm based on improved artificial potential field method

Abstract

The application provides a kind of redundant robot arm obstacle avoidance planning method based on improved artificial potential field method, belongs to the field of robot arm obstacle avoidance path planning, combines traditional artificial potential field method with sampling method, converts obstacle in Cartesian space to joint space by sampling in joint space and carrying out collision detection, then establishes potential field in joint space for path planning. Avoid considering the irregularity of obstacle conversion to joint space area, greatly reduce the calculation amount of obstacle conversion to joint space, and provide conditions for directly using artificial potential field method to establish attractive field and repulsive field in joint space, the repulsive field function of obstacle configuration is improved in the application, which solves the problems of target unattainability and local optimization in traditional artificial potential field method. Finally, the function of robot arm avoiding obstacles and reaching target position can be effectively realized.

Description

Technical Field

[0001] This invention relates to the field of obstacle avoidance path planning technology for robotic arms, and in particular to a method for redundant robotic arm obstacle avoidance planning based on an improved artificial potential field method. Background Technology

[0002] Obstacle avoidance path planning for robotic arms refers to calculating a collision-free path for the robotic arm to reach a specified destination from a starting point using algorithms. Collision detection technology is the foundation of obstacle avoidance for robotic arms. Fast, efficient, and accurate collision detection methods are crucial for robot path planning and autonomous movement. They provide necessary safeguards during task execution and ensure the safe and reliable trajectory of the robotic arm. Currently, collision detection technology for robotic arms is relatively mature. Envelope methods are generally used to simplify the model of the robotic arm and obstacles. Commonly used envelope methods include cylindrical envelope, bounding box, and bounding sphere methods.

[0003] In the research on obstacle avoidance motion of robotic arms, many scholars have conducted extensive research on obstacle avoidance path planning algorithms for robotic arms. These algorithms can be divided into three categories: traditional path planning algorithms, path planning algorithms based on random sampling, and path planning algorithms based on intelligent algorithms.

[0004] Traditional path planning algorithms require precise modeling of obstacles in the environment. While they are efficient in low-degree-of-freedom planning, they become inefficient when robots have many degrees of freedom or the working environment is complex. Path planning algorithms based on random sampling do not require many assumptions about the environment model and have a high success rate, but they cannot guarantee finding the optimal path, and the planned paths may be non-smooth or have too many polygons, making them unsuitable for applications with strict requirements on path shape. Path planning algorithms based on intelligent algorithms can simulate some behaviors and mechanisms in nature, exhibiting strong robustness and global search capabilities, giving them an advantage in complex path planning problems. However, they also suffer from poor search capabilities, premature convergence, and susceptibility to getting trapped in local optima. Summary of the Invention

[0005] This invention proposes a method for obstacle avoidance planning of redundant robotic arms based on an improved artificial potential field method, which reduces the computational amount of obstacle transformation into joint space and solves the problems of target unreachability and local optima in the traditional artificial potential field method.

[0006] The present invention adopts the following technical solution.

[0007] A method for obstacle avoidance planning of redundant robotic arms based on an improved artificial potential field method, the method first samples and performs collision detection in the joint space of the robotic arm, transforms obstacles in Cartesian space into joint space, and then performs path planning in the joint space by establishing a potential energy field; including the following steps;

[0008] Step 1: Sampling is performed in the joint space to obtain multiple sets of uniformly distributed joint angles. ;

[0009] Step 2: Simplify the robotic arm and obstacle models, and obtain the set of obstacle configurations by calculating the shortest distance between the robotic arm and obstacles in Cartesian space. ;

[0010] Step 3: Calculate the obstacle configuration that is closest to the current configuration in the collision configuration set. ;

[0011] Step 4: Configure according to the target and barrier configuration Establish a gravitational field and repulsive field ;

[0012] Step 5: Determine the gravitational field gain Repulsive field gain and the range of influence of barrier configuration The parameters are used to calculate the next configuration through the potential energy function, and the process is repeated iteratively.

[0013] Step 6: Record the calculated configurations as path points within the desired robotic arm joint space. ;

[0014] Step 7: When the distance between the robotic arm and the target point in the joint space is less than the set value, i.e. When the robotic arm reaches the target point, it is considered to have reached the target point.

[0015] Step 8: Perform collision detection on the planned path points. If no collision occurs, the planning is complete, resulting in a collision-free path from the starting point to the desired point in joint space. If a collision occurs, proceed to Step 5 to adjust the gravitational field gain. Repulsive field gain and the range of influence of barrier configuration The parameters need to be re-planned.

[0016] In step one, sampling is first performed in the joint space to obtain multiple sets of uniformly distributed joint angles. Then, in the calculation software, the initial sampling joint angle is given in the joint space, the final sampling joint angle is given, and the joint points are sampled at equal step intervals.

[0017] The method for simplifying the robotic arm and obstacle models in step two is to use the spherical envelope method to simplify the obstacle model; the collision detection between the robotic arm and the obstacle is transformed into the positional relationship between the straight line segment of the link and the center point of the obstacle sphere, and then a judgment is made.

[0018] In step two, the set of obstacle configurations is obtained by calculating the shortest distance between the robotic arm and the obstacle in Cartesian space. The method for calculating the shortest distance is as follows:

[0019] Let the distance from the center of the obstacle sphere to the straight segment of the connecting rod be defined as... , Let represent the foot of the perpendicular from the center of the ball to the straight line segment of the connecting rod; then, combining the DH parameters, the coordinates of each joint of the robotic arm can be expressed by the formula:

[0020] Formula 1;

[0021] Then the first The equation of the straight segment of the connecting rod is expressed by the formula:

[0022] Formula 2;

[0023] Let the coordinates of the center of the obstacle be... The foot of the perpendicular from the center of the obstacle to the line containing the connecting rod coordinates ,because On the straight line of the connecting rod, therefore The coordinates satisfy the equation of a straight line, expressed by the formula: Formula 3;

[0024] set up If it is perpendicular to the straight line of the connecting rod, then it satisfies the equation:

[0025] Formula 4;

[0026] The formula for calculating t is:

[0027] Formula 5;

[0028] like This means that if the foot of the perpendicular lies on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is... , recorded as The calculation formula is:

[0029] Formula Six;

[0030] like or If the perpendicular foot is not on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is one of the distances between the center of the ball and the two endpoints of the connecting rod, denoted as [missing information]. , The calculation formulas are as follows: Formula 7;

[0031] Formula 8.

[0032] In step four, the target configuration is used. and barrier configuration Establish a gravitational field and repulsive field The specific method is to transform obstacles into a series of obstacle configurations in the joint space. These obstacle configurations are regarded as obstacles in the joint space. When the robotic arm is close enough to them, the obstacle configurations generate a repulsive force on the current configuration of the robotic arm. Assuming that the initial configuration and the target configuration in the robotic arm's planning task are known, it is possible to establish an attractive field and a repulsive field in the joint space.

[0033] The gravitational field function in joint space is expressed by the formula:

[0034] Formula Nine;

[0035] Gravity can be expressed by the following formula:

[0036] Formula 10;

[0037] in, The gravitational field gain coefficient is... This represents the distance between the current configuration and the target configuration of the robotic arm within the joint space. This is the current configuration of the robotic arm. For the target configuration of the robotic arm, This represents the range of influence of the gravitational field. To address the issues of target inaccessibility and local minima in traditional artificial potential field methods, an improvement is made to the traditional obstacle repulsive force field model by incorporating an adjustment factor. The improved repulsive field function within the joint space is:

[0038] Formula 11.

[0039] In step five, the improved repulsive field function calculation process considers factors including the distance between the robotic arm and the target point. That is, in the repulsive algorithm, in addition to considering the distance between the robotic arm and the obstacle, the distance between the robotic arm and the target point must also be considered.

[0040] As the robotic arm moves towards the target point, it is simultaneously subjected to both attractive and repulsive forces, which continuously decrease. When the robotic arm reaches the target point, both attractive and repulsive forces will simultaneously drop to zero, thus addressing the issues of unreachable targets and local minima. The repulsive force is expressed by the formula:

[0041] Formula 12;

[0042] Formula Thirteen;

[0043] in, The repulsive field gain coefficient is... This represents the distance between the current configuration of the robotic arm and the obstacle configuration in joint space. For barrier configuration, The range of influence of the repulsive field of the obstacle configuration. Let n be the distance between the current configuration and the target configuration of the robotic arm in joint space, where n is an arbitrary constant.

[0044] In the improved artificial potential field method, the repulsive force of the obstacle on the robot to which the robotic arm belongs is divided into two components. and . The direction is from the obstacle configuration toward the robotic arm. The direction is such that the robotic arm points towards the target configuration, making it impossible for the resultant force of the two forces to be equal to the target configuration. Equal-sized and reversed to prevent the robot from getting trapped in local minima; simultaneously and As the distance between the robot and the target point decreases, the repulsive force from obstacles on the robot decreases as it approaches the target point, thus avoiding the problem of the target being unreachable.

[0045] The calculation software used in step one is MATLAB.

[0046] The method establishes a potential energy field in the joint space for path planning, thereby avoiding the need to consider the irregularities of obstacles transitioning to the joint space region. It also reduces the computational burden of obstacle transitioning to the joint space and provides conditions for directly using the artificial potential field method to establish gravitational and repulsive fields in the joint space.

[0047] This invention provides a method that combines the traditional artificial potential field method with a sampling method. By sampling in joint space and performing collision detection, obstacles in Cartesian space are transformed into joint space, and then a potential energy field is established in joint space for path planning. This method avoids the extensive computation required for modeling obstacles in joint space, while simultaneously using an improved artificial potential field method to plan a relatively smooth path. This invention solves the problems of target unreachability and local optima in the traditional artificial potential field method.

[0048] In this invention, the calculation result of the obstacle avoidance path planning algorithm of the robotic arm is a series of discrete obstacle avoidance path points, so that the obstacle avoidance trajectory can be generated based on these path points during the actual movement of the robotic arm, and the next motion control can be performed to effectively realize the function of the robotic arm avoiding obstacles and reaching the target position.

[0049] The advantages of this invention are as follows: it eliminates the need to consider the irregularities in the transition from obstacle to joint space, significantly reducing the computational load. It also provides the conditions for directly establishing gravitational and repulsive fields in joint space using the artificial potential field method. Furthermore, the improved repulsive field function for obstacle configuration solves the problems of target inaccessibility and local optima in the traditional artificial potential field method. Obstacle avoidance path planning simulations were performed in MATLAB, demonstrating the effectiveness of the proposed algorithm.

[0050] This invention is applied to the field of obstacle avoidance path planning for redundant robotic arms based on the improved artificial potential field method. It can quickly, efficiently, and accurately perform collision detection on seven-degree-of-freedom redundant robotic arms. It can provide necessary protection for the seven-degree-of-freedom redundant robotic arms when performing tasks and ensure that the movement trajectory of the robotic arms is safe and reliable. Attached Figure Description

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0052] Appendix Figure 1 This is a schematic diagram illustrating the principle of the improved artificial potential field method of this invention;

[0053] Appendix Figure 2 This is a schematic diagram of the transformation of the obstacle in the present invention from Cartesian space to joint space;

[0054] Appendix Figure 3 This is a schematic diagram of the process of improving the artificial potential field method in joint space;

[0055] Appendix Figure 4 This is a schematic diagram showing the changes in the joint angles of a robotic arm under a single obstacle;

[0056] Appendix Figure 5 This is a schematic diagram of the end effector trajectory of a robotic arm under a single obstacle. Detailed Implementation

[0057] As shown in the figure, a method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method is described. The method first samples and performs collision detection in the joint space of the robotic arm, transforming obstacles in Cartesian space into the joint space, and then performs path planning in the joint space by establishing a potential energy field; including the following steps.

[0058] Step 1: Sampling is performed in the joint space to obtain multiple sets of uniformly distributed joint angles. ;

[0059] Step 2: Simplify the robotic arm and obstacle models, and obtain the set of obstacle configurations by calculating the shortest distance between the robotic arm and obstacles in Cartesian space. ;

[0060] Step 3: Calculate the obstacle configuration that is closest to the current configuration in the collision configuration set. ;

[0061] Step 4: Target configuration and barrier configuration Establish a gravitational field and repulsive field ;

[0062] Step 5: Determine the gravitational field gain Repulsive field gain and the range of influence of barrier configuration The parameters are used to calculate the next configuration through the potential energy function, and the process is repeated iteratively.

[0063] Step 6: Record the calculated configurations as path points within the desired robotic arm joint space. ;

[0064] Step 7: When the distance between the robotic arm and the target point in the joint space is less than the set value, i.e. When the robotic arm reaches the target point, it is considered to have reached the target point.

[0065] Step 8: Perform collision detection on the planned path points. If no collision occurs, the planning is complete, resulting in a collision-free path from the starting point to the desired point in joint space. If a collision occurs, proceed to Step 5 to adjust the gravitational field gain. Repulsive field gain and the range of influence of barrier configuration The parameters need to be re-planned.

[0066] In step one, sampling is first performed in the joint space to obtain multiple sets of uniformly distributed joint angles. Then, in the calculation software, the initial sampling joint angle is given in the joint space, the final sampling joint angle is given, and the joint points are sampled at equal step intervals.

[0067] The method for simplifying the robotic arm and obstacle models in step two is to use the spherical envelope method to simplify the obstacle model; the collision detection between the robotic arm and the obstacle is transformed into the positional relationship between the straight line segment of the link and the center point of the obstacle sphere, and then a judgment is made.

[0068] In step two, the set of obstacle configurations is obtained by calculating the shortest distance between the robotic arm and the obstacle in Cartesian space. The method for calculating the shortest distance is as follows:

[0069] Let the distance from the center of the obstacle sphere to the straight segment of the connecting rod be defined as... , Let represent the foot of the perpendicular from the center of the ball to the straight line segment of the connecting rod; then, combining the DH parameters, the coordinates of each joint of the robotic arm can be expressed by the formula:

[0070] Formula 1;

[0071] Then the first The equation of the straight segment of the connecting rod is expressed by the formula:

[0072] Formula 2;

[0073] Let the coordinates of the center of the obstacle be... The foot of the perpendicular from the center of the obstacle to the line containing the connecting rod coordinates ,because On the straight line of the connecting rod, therefore The coordinates satisfy the equation of a straight line, expressed by the formula: Formula 3;

[0074] set up If it is perpendicular to the straight line of the connecting rod, then it satisfies the equation:

[0075] Formula 4;

[0076] The formula for calculating t is:

[0077] Formula 5;

[0078] like This means that if the foot of the perpendicular lies on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is... , recorded as The calculation formula is:

[0079] Formula Six;

[0080] like or If the perpendicular foot is not on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is one of the distances between the center of the ball and the two endpoints of the connecting rod, denoted as [missing information]. , The calculation formulas are as follows: Formula 7;

[0081] Formula 8.

[0082] In step four, the target configuration is used. and barrier configuration Establish a gravitational field and repulsive field The specific method is to transform obstacles into a series of obstacle configurations in the joint space. These obstacle configurations are regarded as obstacles in the joint space. When the robotic arm is close enough to them, the obstacle configurations generate a repulsive force on the current configuration of the robotic arm. Assuming that the initial configuration and the target configuration in the robotic arm's planning task are known, it is possible to establish an attractive field and a repulsive field in the joint space.

[0083] The gravitational field function in joint space is expressed by the formula:

[0084] Formula Nine;

[0085] Gravity can be expressed by the following formula:

[0086] Formula 10;

[0087] in, The gravitational field gain coefficient is... This represents the distance between the current configuration and the target configuration of the robotic arm within the joint space. This is the current configuration of the robotic arm. For the target configuration of the robotic arm, This represents the range of influence of the gravitational field. To address the issues of target inaccessibility and local minima in traditional artificial potential field methods, an improvement is made to the traditional obstacle repulsive force field model by incorporating an adjustment factor. The improved repulsive field function within the joint space is:

[0088] Formula 11.

[0089] In step five, the improved repulsive field function calculation process considers factors including the distance between the robotic arm and the target point. That is, in the repulsive algorithm, in addition to considering the distance between the robotic arm and the obstacle, the distance between the robotic arm and the target point must also be considered.

[0090] As the robotic arm moves towards the target point, it is simultaneously subjected to both attractive and repulsive forces, which continuously decrease. When the robotic arm reaches the target point, both attractive and repulsive forces will simultaneously drop to zero, thus addressing the issues of unreachable targets and local minima. The repulsive force is expressed by the formula:

[0091] Formula 12;

[0092] Formula Thirteen;

[0093] in, The repulsive field gain coefficient is... This represents the distance between the current configuration of the robotic arm and the obstacle configuration in joint space. For barrier configuration, The range of influence of the repulsive field of the obstacle configuration. Let n be the distance between the current configuration and the target configuration of the robotic arm in joint space, where n is an arbitrary constant.

[0094] In the improved artificial potential field method, the repulsive force of the obstacle on the robot to which the robotic arm belongs is divided into two components. and . The direction is from the obstacle configuration toward the robotic arm. The direction is such that the robotic arm points towards the target configuration, making it impossible for the resultant force of the two forces to be equal to the target configuration. Equal-sized and reversed to prevent the robot from getting trapped in local minima; simultaneously and As the distance between the robot and the target point decreases, the repulsive force from obstacles on the robot decreases as it approaches the target point, thus avoiding the problem of the target being unreachable.

[0095] The calculation software used in step one is MATLAB.

[0096] The method establishes a potential energy field in the joint space for path planning, thereby avoiding the need to consider the irregularities of obstacles transitioning to the joint space region. It also reduces the computational burden of obstacle transitioning to the joint space and provides conditions for directly using the artificial potential field method to establish gravitational and repulsive fields in the joint space.

[0097] In this example, the improved artificial potential field method is as follows: Figure 1 As shown in the figure, the repulsive force of the obstacle on the robot is divided into two components. and .

[0098] The direction is from the obstacle configuration toward the robotic arm. The direction is that the robotic arm is pointing towards the target configuration, therefore the resultant force of the two forces cannot be the same as the target configuration. By reversing the size of the object, the robot can avoid getting stuck in local minima.

[0099] at the same time and As the distance between the robot and the target point decreases, the repulsive force from obstacles on the robot decreases when it approaches the target point, thus avoiding the problem of the target being unreachable.

[0100] In this example, Figure 4 and Figure 5The MATLAB results for this example method are given, with the following conditions: the Cartesian coordinates of the spherical obstacle are (-0.1, -0.15, 0), and the obstacle radius is 0.06m. A seven-DOF robotic arm has initial joint angles of (0, 0, 0, 0, -π / 2, 0, -π / 2, π) and target joint angles of (π / 2, π / 3, π, -π / 2, -π / 3, -π / 2, π). The curves showing the change in joint angles of the robotic arm under a single obstacle are shown below. Figure 5 As shown, the trajectory variation curve of the robotic arm's end effector under a single obstacle is as follows: Figure 5 As shown in the figure. The results demonstrate that the method of the present invention can effectively enable the robotic arm to avoid obstacles and reach the target position.

Claims

1. A method for obstacle avoidance planning of redundant robotic arms based on an improved artificial potential field method, characterized in that: The method first samples and performs collision detection in the joint space of the robotic arm, transforming obstacles in Cartesian space into the joint space, and then performs path planning in the joint space by establishing a potential energy field. Includes the following steps; Step 1: Sampling is performed in the joint space to obtain multiple sets of uniformly distributed joint angles. ; Step 2: Simplify the robotic arm and obstacle models, and obtain the set of obstacle configurations by calculating the shortest distance between the robotic arm and obstacles in Cartesian space. ; Step 3: Calculate the obstacle configuration that is closest to the current configuration in the collision configuration set. ; Step 4: Target configuration and barrier configuration Establish a gravitational field and repulsive field ; Step 5: Determine the gravitational field gain Repulsive field gain The range of influence of the repulsive field of the obstacle configuration The parameters are used to calculate the next configuration through the potential energy function, and the process is repeated iteratively. Step 6: Record the calculated configurations as path points within the desired robotic arm joint space. ; Step 7: When the distance between the current configuration and the target configuration of the robotic arm in the joint space is less than a set value, i.e. When the robotic arm reaches the target point, it is considered to have reached the target point. This is the current configuration of the robotic arm. Step 8: Perform collision detection on the planned path points. If no collision occurs, the planning is complete, resulting in a collision-free path from the starting point to the desired point in joint space. If a collision occurs, proceed to Step 5 to adjust the gravitational field gain. Repulsive field gain and the range of influence of barrier configuration The parameters need to be re-planned.

2. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 1, characterized in that: In step one, sampling is first performed in the joint space to obtain multiple sets of uniformly distributed joint angles. Then, in the calculation software, the initial sampling joint angle is given in the joint space, the final sampling joint angle is given, and the joint points are sampled at equal step intervals.

3. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 1, characterized in that: The method for simplifying the robotic arm and obstacle models in step two is to use the spherical envelope method to simplify the obstacle model; the collision detection between the robotic arm and the obstacle is transformed into the positional relationship between the straight line segment of the link and the center point of the obstacle sphere, and then a judgment is made.

4. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 1, characterized in that: In step two, the set of obstacle configurations is obtained by calculating the shortest distance between the robotic arm and the obstacle in Cartesian space. The method for calculating the shortest distance is as follows: Let the distance from the center of the obstacle sphere to the straight segment of the connecting rod be defined as... , Let represent the foot of the perpendicular from the center of the ball to the straight line segment of the connecting rod; then, combining the DH parameters, the coordinates of each joint of the robotic arm can be expressed by the formula: Formula 1; Then the first The equation of the straight segment of the connecting rod is expressed by the formula: Formula 2; Let the coordinates of the center of the obstacle be... The foot of the perpendicular from the center of the obstacle to the line containing the connecting rod coordinates ,because On the straight line of the connecting rod, therefore The coordinates satisfy the equation of a straight line, expressed by the formula: Formula 3; set up If it is perpendicular to the straight line of the connecting rod, then it satisfies the equation: Formula 4; The formula for calculating t is: Formula 5; like This means that if the foot of the perpendicular lies on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is... , recorded as The calculation formula is: Formula Six; like or If the perpendicular foot is not on the connecting rod segment, the shortest distance between the center of the obstacle ball and the connecting rod is one of the distances between the center of the ball and the two endpoints of the connecting rod, denoted as [missing information]. , The calculation formulas are as follows: Formula 7; Formula 8.

5. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 1, characterized in that: Step four involves the target configuration. and barrier configuration Establish a gravitational field and repulsive field The specific method is to transform obstacles into a series of obstacle configurations in the joint space. These obstacle configurations are regarded as obstacles in the joint space. When the obstacle configuration generates a repulsive force on the current configuration of the robotic arm, assuming that the initial configuration and target configuration in the robotic arm's planning task are known, a gravitational field and a repulsive field can be established in the joint space. The gravitational field function in joint space is expressed by the formula: Formula Nine; Gravity can be expressed by the following formula: Formula 10; in, The gravitational field gain coefficient, This represents the distance between the current configuration and the target configuration of the robotic arm within the joint space. For the target configuration of the robotic arm, The influence range of the gravitational field is defined. To address the issues of target inaccessibility and local minima in traditional artificial potential field methods, an improvement is made to the traditional obstacle repulsive force field model by incorporating an adjustment factor. This refers to the distance between the current configuration and the target configuration of the robotic arm in joint space. The improved repulsive field function in joint space is: Formula 11.

6. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 5, characterized in that: In step five, the improved repulsive field function calculation process considers factors including the distance between the robotic arm and the target point. That is, in the repulsive algorithm, in addition to considering the distance between the robotic arm and the obstacle, the distance between the robotic arm and the target point must also be considered. As the robotic arm moves towards the target point, it is simultaneously subjected to both attractive and repulsive forces, which continuously decrease. When the robotic arm reaches the target point, both attractive and repulsive forces simultaneously drop to zero, thus addressing the issues of unreachable targets and local minima. The repulsive force exerted by the obstacle on the robot is divided into two components. and The repulsive force can be expressed by the formula: Official Twelve; Formula Thirteen; in, The repulsive field gain coefficient is... This represents the distance between the current configuration of the robotic arm and the obstacle configuration in joint space. For barrier configuration, The range of influence of the repulsive field of the obstacle configuration. Let n be the distance between the current configuration and the target configuration of the robotic arm in joint space, where n is an arbitrary constant.

7. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 6, characterized in that: In the improved artificial potential field method The direction is from the obstacle configuration toward the robotic arm. The direction is such that the robotic arm points towards the target configuration, making it impossible for the resultant force of the two forces to be equal to the target configuration. Equal-sized and reversed to prevent the robot from getting trapped in local minima; simultaneously and As the distance between the robot and the target point decreases, the repulsive force from obstacles on the robot decreases as it approaches the target point, thus avoiding the problem of the target being unreachable.

8. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 2, characterized in that: The calculation software used in step one is MATLAB.

9. The method for obstacle avoidance planning of redundant robotic arms based on the improved artificial potential field method according to claim 8, characterized in that: The method establishes a potential energy field in the joint space for path planning, thereby avoiding the need to consider the irregularities of obstacles transitioning to the joint space region. It also reduces the computational burden of obstacle transitioning to the joint space and provides conditions for directly using the artificial potential field method to establish gravitational and repulsive fields in the joint space.

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