Path Planning of Parallel Robots Based on RRT*-APF Algorithm

Aiming at the path planning problem of high-speed parallel robots in high-density material sorting scenarios, this paper proposes a hybrid path planning method, which combines the Rapid Exploration Random Tree Star (RRT*) algorithm and the improved Artificial Potential Field (APF) method. By adjusting the weights of attractive and repulsive forces in the artificial potential field method, the intelligent strategy switching between the grasping phase and the evacuation phase is realized, which effectively improves the search efficiency. Simulation experiments show that compared with the traditional RRT algorithm, the RRT*-APF algorithm reduces the total path length by 10.6%, the maximum curvature by 97.8%, and the search time by 72.6%, which significantly improves the path optimization effect and the motion stability. The research results provide a new solution for efficient path planning of multi-degree-of-freedom robots in complex environments.