Obstacle Avoidance Path Planning of a 4-DOF Weapon Arm Based on Improved RRT (RRT-H) Algorithm

Table 1

D–H parameters of 4-DOF weapon arm.

Link	Theta	d	a	Alpha (pi)	Offset (pi)	Joint type	Ranges
L1	θ1	0.126	0	−0.5	−0.5	Rotary joint	(−pi, pi)
L2	θ2	0	0	0.5	−0.5	Rotary joint	(−pi, 0])
L3	θ3	0.386	0	0.5	0.5	Rotary joint	(−pi, pi)
L4	θ4	0.038	0	0.5	0	Rotary joint	(−pi, pi)
L5	0	1	0	−0.5	0	Rectilinear motion joint	(0–∞)