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In this study, a placement-position search technique for robot-executable, space-efficient packing of various objects with a robot manipulator has been developed. The technique is used to enable placing objects in order from the corner of a container, fulfilling the following conditions: (A) the corner is within the reach of a robot manipulator, and (B) the robot manipulator does not collide with...
A novel geometric algorithm is proposed that assures a smooth path around the obstacle by generating a virtual sphere around it. The spherical virtual sphere algorithm (SVSA) makes the end-effector (the outermost tip of a closed gripper and hence, considered a point object) of the robot manipulator navigate along the orthodrome, the shortest path connecting the end-points of the obstacle avoidance...
Trajectory planning problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. Based on some certain constraints listed in this paper. A particle swarm optimization (PSO) based algorithm is put forward to solve this issue. The proposed algorithm consists of a hybrid approach regarding SA...
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