A path planning method for a 6-DOF measuring robot

To overcome the problem of collision with measured objects with multiple obstacles, a modified path planning method is proposed for a Measuring Robot (MR) based on rapid exploration of random trees. First, the kinematic model of the 6- DOF measuring robot is built by MDH modeling method to clear the measurement space. Second, as the measured object, a valve body is modeled to identify its characteristics and location. Third, the path is planned by optimizing the threshold, smoothness parameters of the traditional RRT model to improve the planning efficiency. Both the path length and planning time are evaluated to verify the advantages of the modified path planning method.