Aiming at the problems of large sampling area, small effective area, many redundant nodes and long pruning time when applying rapidly exploring random trees(RRT) algorithm to manipulator path planning, this paper proposed an efficient RRT path planning algorithm based on partitioned dynamic sampling strategy and repeated area node rejection mechanism. Firstly, this paper used PS-RRT to quickly plan the initial path of the manipulator end. Secondly, it detected the collision of the links when the manipulator followed the path in sections, and carried out the secondary planning of the collision section with arm constraints. Finally, it spliced the initial path and the second planned path, and then pruned the path. The simulation results show that the obstacle avoidance path planning strategy of the manipulator based on PS-RRT algorithm greatly reduces the number of invalid nodes and can efficiently plan the collision free path of the manipulator, which verifies the feasibility of the algorithm.

[2022-08-22] Accepted Paper /doc/2022.06.0287/v1

[2023-01-05] Printed Article /doc/2022.06.0287/v2