Improved RRT Algorithm in Trajectory Planning for Super Redundant Flexible Arm in Narrow Space
To remove foreign objects in the narrow space of interconnection transformers in substations,a super redundant multi-joint robotic arm is designed.According to the kinematic characteristics of the robotic arm,the kinematic model is established in the robot toolbox,the positive kinematics is used to analyze the angel of gimbal and length of drive rope,a Monte Carlo approach is used to build the workspace of the robot.In order to shorten the trajectory route and decrease the number of random tree points,a trajec-tory planning approach based on the enhanced rapidly-exploring random tree(RRT)algorithm is proposed,and the trajectory optimi-zation is carried out using the greedy algorithm,the simulation results show that the path length decreases by 20％and the plan time improves by 60％.A multi-order Bessel curve is adopted to smooth the trajectory and reduce the slope of the trajectory path.The im-proved RRT algorithm can effectively avoid obstacles,and the trajectory has the characteristics of more precise,smaller curvature,and faster processing speed.It can successfully and rapidly clean up foreign objects.
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