ba60f6118992d8a5a22e83 20231129023958817 beie:beie director@blueeyesintelligence.org WEB-FORM International Journal of Recent Technology and Engineering (IJRTE) IJRTE 22773878 10.35940/ijrte.2277-3878 https://www.ijrte.org/ 11 30 2023 12 4 School of Mechanical Engineering, Anhui University of Science and Technology, China. Masood Usama https://orcid.org/0009-0006-8559-0645 Xianhua Li School of Mechanical Engineering, Anhui University of Science and Technology, School of Artificial Intelligence, Anhui University of Science and Technology, China. Haohao Yu School of Mechanical Engineering, Anhui University of Science and Technology, China. Yamin Iqra School of Computer science and Engineering, Anhui University of Science and Technology, China. For the problem of obstacle avoidance trajectory planning of a robot arm, a robot arm obstacle avoidance method based on a genetic algorithm is proposed. It is based on the two problems that the motion process can avoid obstacles and the motion process is more stable and efficient. First, the motion of each joint is planned as a sixth-degree polynomial, and the coefficients of the sixth-degree term are set as the pending parameters, and the motion of each joint is changed by changing the pending parameters. Then, the fitness function is then constructed by calculating the collision detection, angular velocity limit detection, acceleration limit detection, and the total trajectory length and rotation angle for each joint. Finally, the fitness function is optimised using a genetic algorithm to obtain smooth, continuous, and collision-free trajectories. Matlab simulation experiments show that this method can obtain the optimal or suboptimal trajectory without collision. 11 30 2023 20 25 CC BY-NC-ND 4.0 10.35940/BEIESP.CrossMarkPolicy www.ijrte.org true International Journal of Recent Technology and Engineering (IJRTE) No, I did not receive. No conflicts of interest to the best of our knowledge. No, the article does not require ethical approval and consent to participate with evidence. Not relevant. All authors have equal participation in this article. 10.35940/ijrte.D7946.1112423 https://www.ijrte.org/portfolio-item/D79461112423/