Random based narrow space path planning for arm manipulation with the fixed orientation constraints

Arm manipulation is a skill for robot working in cluttered environment. In this work, we focus on arm manipulation in narrow space with the end-effector to be a certain orientation. In this paper, we present a random, smooth path planning algorithm to avoid the obstacles considering every link of the arm, moving the arm from the starting point to the destination. Our planning algorithm can make the path similar in different planning process because the algorithm is end-point oriented. The simulation result validates the effectiveness of the algorithm.