Motion Planning and Calculation Method of Power Inspection Robot Arm

Aiming at the implementation of high-accuracy path planning for power inspection robots in complex environments, a virtual model of the operating robotic arm is established. In this paper, a series of collision-free waypoints are obtained while using the grid-based C-space method to establish the movement space of the mechanical arm and map the obstacles. On the premise of these waypoints, the interpolation method with arc transition curves is used to fit the motion trajectory smoothly. Finally, an example is given to verify the effectiveness of the proposed method.