Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 1
Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-87-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-87-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 1
Research article
 | 
24 Feb 2023
Research article |  | 24 Feb 2023

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

Quansheng Jiang, Kai Cai, and Fengyu Xu

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Short summary
Traditional path-planning algorithms for bending robots are often a sequence of multiple line segments and an unsmoothed curve, which causes a discontinuous robot motion. A smooth path can ensure continuous motion. We propose an improved artificial potential field-based path-planning method based on the idea of a rapidly exploring random tree (RRT) algorithm, reducing the length of and smoothing the path, thus solving the path-planning problem of a multi-degrees-of-freedom (DOF) bending robot.
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