.... The coordinate of the visual camera is set as T_m. Figure 1 Architecture of the integrated measuring and cutting robot Manipulator Point cloud Measurement Motion planning In the field of the nuclear industry, there are a large number of nuclear fuel tanks that need...

... the risk was relieved. Originality/value This work provides guidance for the safe operation of a class of robot operations and the upgrade of motion planning. In this work, we focus on a single-arm mobile manipulator to respond to door closing. When door-opening technologies work in practice...

...Shiqi Li; Dong Chen; Junfeng Wang Purpose This paper aims to present a method of optimal singularity-free motion planning under multiple objectives and multiple constrains for the 6-DOF parallel manipulator, which is used as an execution mechanism for the automated docking of components. Design...

... process is extremely challenging, which requires the robots to make rapid motion planning for arms under uncertain dynamic disturbances. However, there are many situations require robots to grasp a target quickly while they move, such as emergency rescue. The purpose of this paper is to propose a method...

...Shiqiu Gong; Jing Zhao; Ziqiang Zhang; Biyun Xie Purpose This paper aims to introduce the human arm movement primitive (HAMP) to express and plan the motions of anthropomorphic arms. The task planning method is established for the minimum task cost and a novel human-like motion planning method...

... have great theoretical and practical value and maintenance management system, so as to achieve automation of electric. Motion planning Power distribution network Coordination control Internal force allocation Live working robot Mechanism configuration Live working technology is the most...

..., tracking the updating motion plan through whole-body motion controller. Moreover, planning desired configurations are one of the most critical subjects and are divided into footholds and center or gravity (COG) selection to meet mutual restrictions assuming the other one is certainly still. The first...

... attention and have become one central topic in robotic research. The purpose of this paper is to propose an energy-optimal motion planning method for climbing robots that are applied in an outdoor environment. Design/methodology/approach First, a self-designed climbing robot named Climbot is briefly...

...Weidong Wang; Wenrui Gao; DongMei Wu; Zhijiang Du Purpose The paper aims to present a tracked robot comprised of several biochemical sampling instruments and a universal control architecture. In addition, a dynamic motion planning strategy and autonomous modules in sampling tasks are designed...

...Thomas Fridolin Iversen; Lars-Peter Ellekilde Purpose For robot motion planning there exists a large number of different algorithms, each appropriate for a certain domain, and the right choice of planner depends on the specific use case. The purpose of this paper is to consider the application...

...Nino Pereira; A.Fernando Ribeiro; Gil Lopes; Jorge Lino Purpose The purpose of this paper is to characterise the TWIN-RRT* algorithm which solves a motion planning problem in which an agent has multiple possible targets where none of them is compulsory and retrieves feasible, “low cost...

... over or on/off one obstacle statically or dynamically. As an extreme case, this paper aims to demonstrate how the robots can step over two large obstacles continuously. Design/methodology/approach – The robot model uses linear inverted pendulum (LIP) model. The motion planning procedure includes...

...Biyun Xie; Jing Zhao; Yu Liu Purpose The purpose of this paper is to present a new nested rapidly‐exploring random tree (RRT) algorithm for fault tolerant motion planning of robotic manipulators. Design/methodology/approach Another RRT algorithm is nested within the general RRT algorithm...

... to verify the advantages of the improved model‐based controller. In this section, an improved multi‐body dynamics of the electrical Stewart platform is developed, which considers the influence of the motor systems. Robots Controllers Fault tolerance Motion planning Robotic manipulators RRT...