PR-RRT*: Motion Planning of 6-DOF Robotic Arm Based on Improved RRT Algorithm

摘要

Based on RRT* algorithm, an improved sampling-based motion planning algorithm is proposed in this paper. Firstly, the kinematics analysis of the Schunk lwa3 manipulator is performed, and the D-H model is built. Then the forward kinematics solution of the manipulator is obtained, and the working space of the manipulator is solved based on the Monte Carlo method. Finally, based on the classic RRT motion planning algorithm and the rewiring method in RRT*, the probabilistic-root rapidly-exploring random tree motion planning algorithm is designed and verified by experiments.