Seven-Degrees-of-Freedom Robotic Arm Path Planning Based on Improved RRT

With the development of automation technology, seven degrees of freedom robotic arms are widely used in industry, but the complex kinematic characteristics make path planning a challenge. In this paper, an improved RRT algorithm is proposed for seven-degrees-of-freedom robotic arm path planning to solve the high-dimensional complex constraint problem. Although the traditional RRT algorithm is efficient and adaptable, it suffers from non-optimal paths, redundancy and litter problems. For this reason, this paper introduces a goal strategy and heuristic term to reduce redundant nodes and improve the convergence speed by guiding the tree expansion with goal bias and stochastic probability. Meanwhile, collision detection and fifth-degree polynomial interpolation are used to ensure path safety and motion smoothing.