OPENTECHNICAL PUBLICATION
OT-2026-000002638

Robotic arm obstacle avoiding path planning method

Published: 2026-09-15T19:14:21.894010Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002638
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002638
Published 2026-09-15T19:14:21.894010Z
https://opentechnical.org/p/OT-2026-000002638