ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Industrial Robotics and Automation
Volume 12 - 2025 | doi: 10.3389/frobt.2025.1604506
This article is part of the Research TopicInnovations in Industry 4.0: Advancing Mobility and Manipulation in RoboticsView all 7 articles
iAPF: An Improved Artificial Potential Field Framework for Asymmetric Dual-Arm Manipulation with Real-Time Inter-Arm Collision Avoidance for Industrial Component Handling
Provisionally accepted
- Indian Institute of Technology Mandi, Mandi, India
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This paper presents a robust vision-based motion planning framework for dual-arm manipulators that introduces a novel three-way force equilibrium with velocity-dependent stabilization. The framework combines an improved Artificial Potential Field (iAPF) for linear velocity control with a Proportional-Derivative (PD) controller for angular velocity, creating a hybrid twist command for precise manipulation. A priority-based state machine enables human-like asymmetric dual-arm manipulation. Lyapunov stability analysis proves the asymptotic convergence to desired configurations. The method introduces a computationally efficient continuous distance calculation between links based on line segment configurations, enabling real-time collision monitoring. Experimental validation integrates a real-time vision system using YOLOv8 OBB that achieves 20 frames per second with 0.99/0.97 detection accuracy for bolts/nuts. Comparative tests against traditional APF methods demonstrate that the proposed approach provides stabilized motion planning with smoother trajectories and optimized spatial separation, effectively preventing inter-arm collisions during industrial component sorting.
Keywords: collision avoidance, motion planning, Improved artificial potential field, Dual-arm manipulators, Industrial automation
Received: 02 Apr 2025; Accepted: 15 Sep 2025.
Copyright: © 2025 S K, Prajapati, Narula and Shukla. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Surya Prakash S K, s.surya1754@gmail.com
Amit Shukla, amitshukla@iitmandi.ac.in
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