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To remove foreign objects from a substation interconnection transformer"s limited environment, a super-redundant multi-joint robotic arm was created. The gimbal angle and drive rope length were examined using positive kinematics, the robot"s workspace was established using the Monte Carlo approach, and a kinematic model was established in the robot toolbox based on the kinematic properties of the robotic arm. A trajectory planning approach based on the enhanced RRT algorithm is suggested, and trajectory optimization is carried out using the greedy algorithm in order to shorten the trajectory route and decrease the number of random tree points. The revised RRT algorithm can successfully avoid obstacles, and the trajectory is more precise, has less curvature, and has a faster processing time. It can also successfully and rapidly finish the cleaning of foreign objects.