引用本文:刘暾东,林晨滢,吴晓敏.基于人工势场法的机械臂动态运动基元局部平滑避障方法[J].控制理论与应用,2026,43(4):783~792.[点击复制]
LIU Tun-dong,LIN Chen-ying,WU Xiao-min.Local smooth obstacle avoidance method for dynamic motion primitives of manipulators based on artificial potential field[J].Control Theory & Applications,2026,43(4):783~792.[点击复制]
基于人工势场法的机械臂动态运动基元局部平滑避障方法
Local smooth obstacle avoidance method for dynamic motion primitives of manipulators based on artificial potential field
摘要点击 141  全文点击 25  投稿时间：2024-03-01  修订日期：2025-06-14
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DOI编号  10.7641/CTA.2024.40128
  2026,43(4):783-792
中文关键词  机械臂  动态运动基元  人工势场  局部平滑避障
英文关键词  manipulators  dynamic motion primitives  artificial potential field  local smooth obstacle avoidance
基金项目  
作者单位E-mail
刘暾东 厦门大学 萨本栋微米纳米科学技术研究院 ltd@xmu.edu.cn 
林晨滢 厦门大学 萨本栋微米纳米科学技术研究院  
吴晓敏* 厦门理工学院 光电与通信工程学院 wuxiaomin@xmut.edu.cn 
中文摘要
      针对机械臂在空间中规划避障轨迹存在的建模效率低、轨迹易振荡问题, 本文提出了一种基于人工势场法 的机械臂动态运动基元局部平滑避障方法. 该方法采用动态运动基元(DMP)学习单条示教轨迹的特征参数, 实现对 空间内任意目标点进行相似轨迹的快速泛化建模; 通过设置障碍物距离约束, 引入人工势场方法(APF)对DMP泛化 轨迹进行局部避障规划, 并提出一种虚拟目标点策略提升轨迹的规划稳定性; 利用3次贝塞尔插值生成过渡曲线, 实现平滑避障, 消除轨迹振荡问题. 为验证方法的有效性, 以有色金属去渣工艺为背景, 分别开展机械臂在静态、动 态障碍物场景下的避障实验. 实验结果表明: 本文所提方法相较于传统的避障规划方法, 平均规划时间效率和轨迹 平滑性都有所提高, 具有良好的应用前景.
英文摘要
      Aiming at the low modeling efficiency and oscillation problem of obstacle avoidance trajectory planning for manipulators in space, a local smooth obstacle avoidance method based on artificial potential field method for dynamic motion primitives of manipulators is proposed. This method uses dynamic motion primitives (DMP) to learn the characteristic parameters of a single teaching trajectory, realizing fast generalised modeling of similar trajectories for any target point in space; by setting obstacle distance constraints and introducing the artificial potential field method (APF) to plan local obstacle avoidance for the generalised trajectory of DMP, a virtual target point strategy is proposed to improve the planning stability of the trajectory; using cubic Bezier interpolation to generate transition curves, achieving smooth obstacle avoidance and eliminating trajectory oscillation problems. To verify the effectiveness of the method, obstacle avoidance experiments for manipulators in static and dynamic obstacle scenarios are conducted against the background of non-ferrous metal de-slagging processes. Experimental results show that compared to traditional obstacle avoidance planning methods, the method proposed in this paper has improved average planning time efficiency and trajectory smoothness, with promising application prospects.