Motion control of modular reconfigurable robotic arms based on improved RRT algorithm

This work uses a modular reconfigurable robotic arm as a research case to study robotic arm development. By employing a straightforward modular reassembly method, a modular reconfigurable robotic arm motion system is designed. This system can be integrated into a modular mobile grasping platform for experimental implementation as required. The modular reconfigurable robotic arm performs path planning using an improved RRT algorithm. This enhanced RRT algorithm integrates a bidirectional search strategy, a goal-biased probability strategy, a greedy algorithm, and a variable step-size approach, combining multiple strategies to improve the RRT algorithm. It has been validated on a physical robotic arm, enabling precise motion control of the reconfigurable arm and effectively addressing poor adaptability following arm reconfiguration.