Picking mechanical arm motion planning method based on CTB-RRT algorithm

The invention discloses a picking mechanical arm motion planning method based on a CTB-RRT* algorithm. The method fuses the bidirectional greedy search of RRT-connect and the progressive optimality of RRT*, introduces a Cauchy sampling method, a target gravitation and dynamic step length method and a node rejection strategy, determines the position of a picking target and obstacle information through a visual system, obtains the picking position and posture of the tail end of a mechanical arm through inverse kinematics solution, conducts motion planning through the CTB-RRT* algorithm to obtain a collision-free path connecting the starting posture and the target posture, and controls the mechanical arm to reach a target picking point along the collision-free path. According to the method, random sampling is replaced by Cauchy sampling, so that sampling blindness is reduced; target gravitation is introduced, the step length of the random growth direction and the step length of the target direction are dynamical