Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor

The invention relates to an optimal obstacle avoidance control method and device for robotic arms based on an artificial potential field gravitational factor. The method includes the following steps:(1) setting an initialized model position and an initial value of the gravitational factor; (2) calculating the gravity and repulsion borne by the end of a robotic arm by using an artificial potentialfield algorithm; (3) based on the initialized model position and the step (2), obtaining a path point set of the end of the robotic arm by using the gravity and repulsion; (4) obtaining the shortestdistance between the points in the path point set of the end of the robotic arm and the center position of an obstacle and the termination position of the end of the robotic arm, and obtaining a shortest obstacle avoidance path model description based on model constraints; and (5) building an obstacle avoidance path objective function based on the shortest obstacle avoidance path model description, using an optimization met