... each joint independently and synchronize to the slowest, often leading to suboptimal execution time and motion smoothness. The goal is to improve time efficiency and dynamic performance in industrial robotics by leveraging joint-level kinematic constraints. Design/methodology/approach A nonlinear...

... effects including mass-transfer effect. Table I represents the parameters of this robot. Mobile robots Dynamic environment Kinematic constraints Obstacle avoidance A fundamental ability of an autonomous mobile robot is to plan a collision-free path from a start to a goal position...