Table 1.
Modified D-H parameters.
Fig 1.
Mirobot six-axis robot arm.
Fig 2.
Joint coordinate system.
Fig 3.
Mirobot robot arm model.
Fig 4.
Schematic diagram of simplified model of the envelope method.
Fig 5.
Schematic diagram of RRT-Connect algorithm expansion.
Fig 6.
Schematic diagram of dynamic step size expansion.
Fig 7.
Artificial potential field method.
Fig 8.
The target gravitational function and the repulsion function are added.
Fig 9.
Schematic diagram of path pruning process.
Fig 10.
Flowchart of DAPF-RRT algorithm.
Fig 11.
Expansion procedure.
Fig 12.
Final path.
Fig 13.
Comparison before and after path pruning.
Fig 14.
Path comparison before and after smoothing.
Table 2.
Performance comparison of different algorithms.
Fig 15.
Time and path length of 30 simulation planning.
Table 3.
Path length and planning time of map planning with different complexity.
Fig 16.
Map simulation comparison of different complexity.
Fig 17.
Path planning simulation process of the robotic arm.
Fig 18.
Effect diagram of robotic arm moving along trajectory.