For　the　robotic　arm　to　perform　multi-task　operations,　the　robotic　arm　operation　requirements　under　the　conditions　of　random　multi-target　operation　points,　safe　obstacle　avoidance,　and　reducing　the　rotation　of　joints　as　much　as　possible　to　reduce　the　wear　and　tear　of　robotic　arm　joints　are　considered,　and　the　continuous　path　planning　method　for　multi-target　operations　based　on　the　configuration　space　is　proposed.　Firstly,　by　constructing　the　configuration　space　of　robotic　arm　joints　and　dividing　it　into　obstacle　and　free　regions,　searching　continuous　paths　in　the　free　region;　on　this　basis,　based　on　the　TSP　idea,　using　the　minimum　movement　of　robotic　arm　configuration　in　the　free　region　as　the　transfer　cost,　the　sequence　planning　method　combining　A　∗　algorithm　and　improved　ant　colony　algorithm　is　used　to　solve　the　minimum　value　of　the　transfer　cost　and　obtain　the　optimal　operation　sequence　and　robotic　arm　operation　configuration,　so　as　to　obtain　the　continuous　path　with　the　least　rotation　of　robotic　arm　to　multiple　target　operation　joints.　©　2023　IEEE.