An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

An Asymmetric Collision-Free Optimal Trajectory Planning Method for Three DOF Industrial Robotic Arms

To improve the speed and dynamic adaptability of robotic arm trajectory planning, a collision-free optimal trajectory planning method combining non-uniform adaptive time meshing and bounding box collision detection was proposed. First, the dynamics and objective function of the asymmetric industrial...

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Bibliographic Details
Main Authors: Wenhao Wu, Aipeng Jiang, Kai Mao, Haodong Wang, Yamei Lin
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Symmetry
Subjects:
trajectory planning
asymmetric dynamic optimization
bounding box
collision detection
control vector parameterization
Online Access:https://www.mdpi.com/2073-8994/15/6/1155

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