Mechanical arm motion planning method for traversing multiple target points under complex obstacle

According to the mechanical arm motion planning method for traversing multiple target points under the complex obstacle, under the condition that the positions of the multiple target points in a working scene and obstacle information are known, obstacle avoidance path planning of a mechanical arm is conducted through a simulated annealing algorithm and an improved RRT algorithm, and then inverse kinematics solving is conducted. A simulated annealing algorithm is adopted for global optimization, the optimal multi-target-point traversing sequence of the mechanical arm is rapidly determined, a traditional RRT algorithm is improved, different search step lengths are used according to the complexity of obstacles, the convergence speed of the algorithm is increased, finally, pruning and smooth optimization are conducted on a generated path, and the length of the path is further shortened. The designed mechanical arm motion planning algorithm is simple and easy to use, good in portability, high in convergence speed