关键词: 改进人工势场法, 合势能最速下降, 机械臂, 路径规划, 虚拟障碍

Abstract: Aiming at the shortcoming of traditional method of path planning using merely on typical structure of manipulator, after the result of using a third way as genetic algorithm to get an ideal data, a new method of improved artificial method with combined potential energy steepest descent based on arthrosis space is proposed. Using the method of adding virtual obstacle in the minimum field to produce virtual potential energy in solving the problem of local minimum, the manipulator successfully achieves the goal avoiding the obstacle. The simulation results show that the proposed method is valid and effective in path planning of manipulator.

Key words: improved artificial field method, combined potential energy steepest descent, manipulator, path planning, virtual obstacle