---
publication_id: "OT-2026-000002638"
title: "Robotic arm obstacle avoiding path planning method"
published_at: "2026-09-15T19:14:21.894010Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002638"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1661"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j9/1666"
  - "b25j19/02"
  - "b25j19/023"
---

# Robotic arm obstacle avoiding path planning method

## Abstract

A robotic arm obstacle avoiding path planning method is provided. The method includes the following steps: step 1: simplifying the robotic arm model and obstacles, determining robotic arm joint points, and adopting virtual joint interpolation to interpolate connecting rods between adjacent joints; employing spherical bounding boxes at each joint point to envelop and replace the robotic arm model, enabling complete substitution for distance calculation when the robotic arm assumes any posture; step 2: adopting an eye-to-hand configuration to position the depth camera, acquiring in real time the point cloud information of the robotic arm and obstacles in the workspace, and using a robot real-time filtering package to filter out the point cloud information of the robotic arm itself.