This invention provides a method for
robotic arm path planning and maintenance for live-line work in power
distribution networks, belonging to the field of
robotic arm path planning and maintenance technology. It plans a maintenance path for the
robotic arm performing live-line work that meets geometric collision-free, electrical insulation safety, and compliance with live-line operation procedures, establishing a four-dimensional composite
configuration space including the amplitude of the
electric field intensity in the work area. Rigid prohibition points are marked according to the maximum allowable
electric field intensity threshold, and a risk
potential field layer is constructed by combining the
electric field amplitude and distance risk
potential field function. The task type is analyzed, and electrical safety operation timing logic rules are retrieved and converted into
path search cost penalty terms. A fusion
path search is performed based on an improved fast random expansion tree
algorithm, and geometric collision, electric field rigid prohibition, cumulative risk
potential field, and timing logic consistency checks are performed on the generated new nodes. This invention embeds electromagnetic situational awareness into the planning kernel, achieving dual geometric and electrical
obstacle avoidance, significantly improving the safety of live-line work.