A Path-Planning Method to Significantly Reduce Local Oscillation of Manipulators Based on Velocity Potential Field.

The robotics industry and associated technology applications are a vital support for modern production and manufacturing. With the intelligent development of the manufacturing industry, the application of collaboration robots and human-robot collaboration technology is becoming more and more extensive. In a human-robot collaboration scenario, there are uncertainties such as dynamic impediments, especially in the human upper limb, which puts forward a higher assessment of the manipulator's route planning technology. As one of the primary branches of the artificial potential field (APF), the velocity potential field (VPF) offers the advantages of good real-time performance and convenient mathematical expression. However, the traditional VPF algorithm is prone to local oscillation phenomena near obstacles, which degrades the smoothness of the movement of the manipulators. An improved velocity potential field algorithm is proposed in this paper. This method solves the problem of sudden velocity change when the manipulator enters and departs the region of the potential field by setting new functions for attraction velocity and repulsion velocity functions. A virtual target point construction method is given to overcome the local oscillation problem of the manipulators near obstacles. The simulation and practical findings of the manipulators reveal that the improved VPF algorithm can not only avoid collision but also effectively reduce the local oscillation problem when dealing with the human upper limb as a dynamic obstacle. The implementation of this algorithm can increase the safety and real-time performance of the human-robot collaboration process and ensure that the collaborative robot is safer and smoother in the working process.