Kai Mi

TL;DR: In this article, a smooth transition method of multi-space trajectory planning of a teaching robot is presented, aiming at solving the unsmooth problemin the trajectory switching process, which comprises the steps that a teaching program of the teaching robot was analyzed, the switching direction of the trajectory planning was judged, if the trajectory trajectory planning is that the trajectory heading is from cartesian space to joint space, a tail end of Cartesian space trajectory planning, according to the requirements on a path and a velocity, a first posture and a first velocity at the tail end are acquired, first

TL;DR: This work proposes a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods and introduces an optimization structure similar to dynamic programming into the algorithm, which can generate an asymptotically optimized smooth path in joint space.

TL;DR: In this article , a Scale-like disc (SLD) representation of the workspace is used to decouple task constraints and base placements, and a reachability map (RM) is constructed offline.

TL;DR: The results show that the proposed algorithm can quickly plan an obstacle avoidance trajectory in joint space and the quality of the trajectory is improved effectively compared to randomly specifying a goal configuration.