Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot

Abstract. Path planning is a key technique used in the operation of

bending robots. In this paper, an obstacle-avoidance path-planning method of

a 5 degrees of freedom (5 DOF) bending robot based on improved artificial

potential field is proposed. Firstly, a connecting-rod coordinate system of

the 5 DOF Cartesian bending robot is established to determine an equation of

motion trajectory of the bending robot. Secondly, in view of the problem

of the local minimum in the artificial potential field (APF) method and

the failure of path planning, an improved APF path-planning method based on a

rapidly exploring random tree (RRT) algorithm is proposed, which reduces the length of

the path and enhances path smoothness. Finally, through simulation and

obstacle-avoidance experiments on the path of a mechanical arm, effective

path planning based on the improved APF method is verified. The experimental

results show that the proposed path-planning method can plan an optimal path

and meet the technical requirements of bending robot operations.