Motion Planning and Optimisation of a Degree-of-Freedom Robotic Arm Considering Obstacle Avoidance and Multi-Objective Cargo Gripping

This paper addresses the motion planning and optimisation problem of a six-degree-of-freedom robot arm. The obstacle avoidance problem is introduced, and the A * algorithm is used to plan the optimal movement path of the robot arm base. Combined with the raster map model, the path planning of the robot arm in a complex environment is achieved. Then it is extended to the multi-objective cargo grasping task, and a hierarchical optimisation strategy is proposed, which integrates the grasping order, base movement and joint angle optimisation. The effectiveness of the proposed method is verified through visualisation and data analysis.