Improved Manipulator Obstacle Avoidance Path Planning Based on Potential Field Method

Table 1

The link parameters of the PUMA560.

Link	[°]				Joint angle range [°]
1	0	0	0		−160~160
2	−90	0			−225~45
3	0		0		−45~225
4	−90				−110~170
5	90	0	0		−100~100
6	−90	0	0		−266~266

Among them .