An Improved Potential Field Method of the Manipulator Obstacle Avoidance Planning Based on Polishing Path

Aiming at the problem of local minimum of traditional artificial potential field, this paper proposes a partial potential field by offset virtual obstacle correction strategy of potential field method. Determining the escape direction of the manipulator at the extreme value according to the offset direction. By improving the potential function, the manipulator can escape from the local minimum; at the same time, the strategy of continuous potential field is put forward, which can be used in polishing complex surface. The processing sequence of workpiece surface is generated by modifying greedy algorithm, and then path generation is realized by using modified potential field method. Finally, the simulation of the above strategies has done in MATLAB. The results demonstrate the offset virtual obstacle strategy is better and the generated trajectory is suitable.