Research on Optimization Algorithm of Obstacle Avoidance Motion Planning for Harvesting Manipulator
Aiming at the real-time motion planning of the six-link picking manipulator,an improved artificial potential field(IAPF)optimization algorithm is proposed in the traditional artificial potential field(APF)algorithm.The elementary transfor-mation sequence method is used to model the kinematics of the manipulator.This model can easily obtain the Jacobian matrix of each point on the manipulator relative to the base coordinate system.The IAPF algorithm adds the sigmoid function on the basis of the original gravitational potential field calculation model of the APF algorithm to make the path planning algorithm con-verge.The anti S Sigmoid function is introduced into the repulsion potential field to prevent the repulsion explosion.The IAPF al-gorithm avoids the local minimum trap(LMT)and the target unreachable problem(TNRP)f traditional algorithms,and effective-ly reduces the computation time and joint error of robot motion planning.Finally,the experimental results verify the real-time and accuracy of the proposed optimization algorithm in the obstacle avoidance motion planning of the picking manipulator.
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