Efficient Path Planning for 7-Axis Robot Arms via A* Algorithm

Robotic technology enhances construction productivity and addresses labor shortages. This paper proposes an efficient path planning method for a 7-axis robot arm within complex environments. By utilizing the A* algorithm to optimize redundant DOFs (e.g., elbow angle), the system achieves flexible obstacle avoidance. Motion generation relies on geometric algorithms, ensuring deterministic path planning. The results demonstrate efficacy in both simulations and real-world scenarios. Finally, we discuss the practical challenges of the method.