Kinematic Analysis and Trajectory Optimization of the UR10 Robotic Arm Using the RRT Algorithm

Robotic arms are essential in modern industries, improving efficiency and precision in tasks like hazardous material handling and harvesting. However, current trajectory planning methods often lack stability, precision, and adaptability. This paper analyzes the UR10 robotic arm using Denavit-Hartenberg (D-H) parameters and optimizes its trajectory. The results show improved path planning efficiency and precision, meeting industrial standards and supporting complex applications.