---
publication_id: "OT-2026-000002381"
title: "Method and system for path planning of robot arm in dynamic environment"
published_at: "2026-09-15T19:12:37.640232Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002381"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/16"
  - "b25j9/1676"
  - "b25j9/1697"
---

# Method and system for path planning of robot arm in dynamic environment

## Abstract

A method for path planning of a robot arm in a dynamic environment includes steps as follows. During an operation of the robot arm in a three-dimensional environment, a state of an obstacle is obtained in real time, and when a collision danger occurs, the robot arm is allowed to dodge the obstacle. In the collision danger, a partial path of the robot arm is re-planned based on a hybrid RRT, so that the robot arm avoids dynamic and static obstacles in an environment and then returns to an original path for continuing operation.