Abstract:
This paper proposes a three-dimensional force field (3D-F2) method for efficient motion planning and
collision avoidance of a 6DOF manipulator in complex and dynamic environments while keeping the
planned end-effector’s path and speed unchanged. The 3D-F2 is defined as ellipsoid shapes covering
selected links of a manipulator. When the manipulator moves and its ellipsoid force field approaches to an
obstacle in a tolerant range, a repulsive force will be generated and considered in the robot kinematic and
dynamic analyses. In infrastructure maintenance, spray-painting and sand-blasting operations require that
the operating spot “moves” smoothly and continuously along planned path on a work surface at a constant
speed, and allow changes in length and orientation of the spray/blasting stream. Thus, the stream is
supposed to be another link and the end of stream performs as a spherical joint fixed on the target surface.
Various simulations in a construction area show that the 3D-F2 can retain the operating path and
effectively avoid potential collisions.
