Multi-objective Operation Path Planning Method for Robotic Arm Based on Configuration Space

For the robotic arm to perform multi-task operations, the robotic arm operation requirements under the conditions of random multi-target operation points, safe obstacle avoidance, and reducing the rotation of joints as much as possible to reduce the wear and tear of robotic arm joints are considered, and the continuous path planning method for multi-target operations based on the configuration space is proposed. Firstly, by constructing the configuration space of robotic arm joints and dividing it into obstacle and free regions, searching continuous paths in the free region; on this basis, based on the TSP idea, using the minimum movement of robotic arm configuration in the free region as the transfer cost, the sequence planning method combining A * algorithm and improved ant colony algorithm is used to solve the minimum value of the transfer cost and obtain the optimal operation sequence and robotic arm operation configuration, so as to obtain the continuous path with the least rotation of robotic arm to multiple target operation joints.