A Study on Multi-Constraint Robotic Arm Path Planning and Energy Optimization Based on RRT* and Gradient Projection Algorithms
Yunye Li, Jing Luo · 2024
To optimize the path planning of a six-degree-of-freedom robotic arm in complex environments, this paper proposes a multi-objective optimization method that integrates the gradient projection method and the RRT* algorithm. Based on the D-H parameter method, the kinematic model of the robotic arm is constructed. The gradient projection method is employed to optimize joint trajectories for energy efficiency, while the RRT* algorithm is used to solve the obstacle avoidance problem. On this basis, a multi-objective path planning model is established, aiming to minimize end-effector error and energy consumption. MATLAB simulations verify the effectiveness of the proposed method. Experimental results demonstrate that the method excels in path smoothness, energy optimization, and obstacle avoidance, providing theoretical and technical support for the application of robotic arms in industrial and service fields.