Abstract:Aiming at the obstacle avoidance path motion problem of 6R industrial robot assembly, the path planning method of robot's full body obstacle avoidance was studied, and an improved RRT* algorithm was proposed. Based on RRT* algorithm, the algorithm introduced bounding box algorithm into obstacle modeling, added collision detection between each axis of the robot and obstacles, and a priori information guidance mechanism for random point generation direction and tree growth direction is added to the path planning, which optimized the path length and path search efficiency of the algorithm. The experimental verification was carried out by Matlab, and the results shown that compared with the standard RRT* algorithm, the priori guided RRT* algorithm can shorten the path length by about 14%, and meet the obstacle avoidance requirements of the robot end path and arms.