Aiming at the path following motion of super redundant robot

the end obstacle avoidance path planning method is studied. In the aspect of obstacle modeling

the joint structure and path following motion state of super redundant robot are analyzed

the path constraints are introduced

and the obstacles are inflated; At the level of path planning

the traditional RRT

*

algorithm is optimized

and the improved sampling method

the introduction of corner constraint and post collision adjustment are adopted to improve the traditional RRT

*

algorithm’s disadvantages such as large random path and complex path. Experimental verification is carried out in MATLAB

and the results show that compared with the path planned by the traditional RRT* algorithm

this method can effectively shorten the p

ath length

reduce the number of nodes

and improve the quality of path planning.