Path Planning Algorithm for Manipulator Based on Manipulability-Maximizing

An improved path planning algorithm based on RRT* is proposed for the manipulator to generate a collision-free path for end-effector in this paper, which maximizes the manipulator's manipulability throughout the entire path. The algorithm introduces manipulability information as prior information to guide the RRT node toward desired regions. By introducing hybrid cost into improved RRT
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algorithm, the path length is minimized while the expected manipulability is maximized. Finally, the end-effector path is transformed into a configuration trajectory by solving a multi-objective optimization problem. The simulation results compared with RRT
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demonstrates the effectiveness of the proposed algorithm.