Motion control of modular reconfigurable robotic arms based on improved RRT algorithm
Abstract
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.
Fields of Study & Subjects
Modular Robots and Swarm Intelligence
Robot Manipulation and Learning
Robotic Path Planning Algorithms
Publication details
- Journal / source
- Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science
- Publisher
- SAGE Publications
- Volume
- 240
- Issue
- 7
- Pages
- 2359–2371
- Publication date
- 23 January 2026
- Language
- EN