Trajectory planning of a 6R manipulator around obstacles by using SRRT* Algorithm

Abstract

Since the outbreak of COVID-19 viruses, industrial serial manipulators have become the key equipment in the anti-epidemic war, in manufacturing industry in order to reduce people but not efficiency. In order to solve the problem of robot obstacle avoidance and trajectory planning, based on the forward and inverse kinematics of robot, the robot joint space is taken as the random sampling space, and we use the SRRT* method ,and a collision free trajectory planning is proposed.