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The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper proposes a multi-DOF robot motion planning method based on RRT and extended algorithms. The planning results of traditional RRT and extended algorithms are random, and obtaining sub-optimal results requires a lot of calculations. In this study, a sparsedoi:10.3390/app112210773 fatcat:mgfwviannrfbdhawpn4jg7m6km