Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space
Traditional six-degree-of-freedom manipulators struggle with obstacle avoidance and smooth target point arrival. This paper focuses on trajectory planning for a seven-degree-of-freedom redundant manipulator, introducing a trajectory optimization algorithm based on improved RRT* (I-RRT*) and cubic sp...
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| Format: | Article |
| Language: | English |
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AIP Publishing LLC
2024-12-01
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| Series: | AIP Advances |
| Online Access: | http://dx.doi.org/10.1063/5.0231168 |
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| author | Lin Zhang Yangfan Li Yingjie Zhang |
| author_facet | Lin Zhang Yangfan Li Yingjie Zhang |
| author_sort | Lin Zhang |
| collection | DOAJ |
| description | Traditional six-degree-of-freedom manipulators struggle with obstacle avoidance and smooth target point arrival. This paper focuses on trajectory planning for a seven-degree-of-freedom redundant manipulator, introducing a trajectory optimization algorithm based on improved RRT* (I-RRT*) and cubic spline smoothing. The I-RRT* algorithm addresses the randomness in search tree expansion and enhances target orientation through an adaptive growth strategy and mixed sampling. In the experimental section, the I-RRT* method is compared to APF-RRT*, APF-RRT, RRT*, and RRT algorithms. Results demonstrate that I-RRT* outperforms these methods in path length, time efficiency, and overall optimization. In addition, the manipulator’s ability to safely and successfully reach target points in narrow spaces is confirmed. Overall, this study enhances the trajectory planning capabilities of seven-degree-of-freedom redundant manipulators in hazardous environments, enabling flexible navigation, effective obstacle avoidance, and precise target arrival. |
| format | Article |
| id | doaj-art-d6c3ac29c4e5499abc0dbadceeb55028 |
| institution | DOAJ |
| issn | 2158-3226 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | AIP Publishing LLC |
| record_format | Article |
| series | AIP Advances |
| spelling | doaj-art-d6c3ac29c4e5499abc0dbadceeb550282025-08-20T02:56:31ZengAIP Publishing LLCAIP Advances2158-32262024-12-011412125301125301-1510.1063/5.0231168Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow spaceLin Zhang0Yangfan Li1Yingjie Zhang2Department of Computer Science and Technology, Xi’an University of Architecture and Technology, Beilin District, Xi’an 710055, ChinaXi’an Aerospace Propulsion Testing Technology Research Institute, Baqiao District, Xi’an 710025, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Beilin District, Xi’an 710049, ChinaTraditional six-degree-of-freedom manipulators struggle with obstacle avoidance and smooth target point arrival. This paper focuses on trajectory planning for a seven-degree-of-freedom redundant manipulator, introducing a trajectory optimization algorithm based on improved RRT* (I-RRT*) and cubic spline smoothing. The I-RRT* algorithm addresses the randomness in search tree expansion and enhances target orientation through an adaptive growth strategy and mixed sampling. In the experimental section, the I-RRT* method is compared to APF-RRT*, APF-RRT, RRT*, and RRT algorithms. Results demonstrate that I-RRT* outperforms these methods in path length, time efficiency, and overall optimization. In addition, the manipulator’s ability to safely and successfully reach target points in narrow spaces is confirmed. Overall, this study enhances the trajectory planning capabilities of seven-degree-of-freedom redundant manipulators in hazardous environments, enabling flexible navigation, effective obstacle avoidance, and precise target arrival.http://dx.doi.org/10.1063/5.0231168 |
| spellingShingle | Lin Zhang Yangfan Li Yingjie Zhang Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space AIP Advances |
| title | Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space |
| title_full | Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space |
| title_fullStr | Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space |
| title_full_unstemmed | Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space |
| title_short | Trajectory planning of seven-degree-of-freedom redundant manipulator in narrow space |
| title_sort | trajectory planning of seven degree of freedom redundant manipulator in narrow space |
| url | http://dx.doi.org/10.1063/5.0231168 |
| work_keys_str_mv | AT linzhang trajectoryplanningofsevendegreeoffreedomredundantmanipulatorinnarrowspace AT yangfanli trajectoryplanningofsevendegreeoffreedomredundantmanipulatorinnarrowspace AT yingjiezhang trajectoryplanningofsevendegreeoffreedomredundantmanipulatorinnarrowspace |