Obstacle Avoidance of Multiple Manipulators Based on 3D Artificial Potential Field Method

This paper proposes a multiple manipulators obstacle avoidance algorithm based on the 3D artificial potential field method. The distance model of the manipulators is established to detect the possible collision of the manipulators. The 3D artificial potential field method is used to deal with the obstacle avoidance problem in the operation of multiple manipulators. Consequently, a smooth collision-free trajectory can be obtained, which is dynamically adjusted according to the parameters of potential field. The experimental results with the UR manipulator illustrate that the developed system is efficient and fast in detecting collisions as well as planning paths.