Dual-well potential field function for articulated manipulator trajectory planning

A new attractive potential field function is proposed in this paper for manipulator trajectory planning. Existing attractive potential field constructs a global minimum through which maneuvering objects move down the gradient of the potential field toward this global minimum. The proposed method constructs a potential field with two minima. The purpose of these two minima is to create a dual attraction between links rather than affecting each link by the preceding one through kinematic constraints. (C) 2016 Faculty of Engineering, Alexandria University. Production and hosting by Elsevier B.V.