Trajectory planning of robotic arm based on improved RRT method

Abstract

Mechanical arms have been widely used in industrial production, and their working environment has become increasingly complex. Industrial manufacturing requires robotic arms to have higher efficiency and accuracy, so studying the motion analysis and path planning of robotic arms is very important. In this article, we used geometric and analytical methods to solve the kinematic analysis of the robotic arm from both forward and inverse perspectives. In order to improve the work efficiency and service life of the robotic arm, the Informed RRT* algorithm was used to optimize the motion trajectory of the robotic arm. Finally, we use the PUMA560 robotic arm as the simulation object to analyze the algorithm. The simulation results show that this method can help the robotic arm achieve optimal performance.