Industrial Robot最新文献

{"title":"Model-free visual servoing based on active disturbance rejection control and adaptive estimator for robotic manipulation without calibration","authors":"Jun Tian, Xungao Zhong, Xiafu Peng, Huosheng Hu, Qiang Liu","doi":"10.1108/ir-12-2023-0347","DOIUrl":"https://doi.org/10.1108/ir-12-2023-0347","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Visual feedback control is a promising solution for robots work in unstructured environments, and this is accomplished by estimation of the time derivative relationship between the image features and the robot moving. While some of the drawbacks associated with most visual servoing (VS) approaches include the vision–motor mapping computation and the robots’ dynamic performance, the problem of designing optimal and more effective VS systems still remains challenging. Thus, the purpose of this paper is to propose and evaluate the VS method for robots in an unstructured environment.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This paper presents a new model-free VS control of a robotic manipulator, for which an adaptive estimator aid by network learning is proposed using online estimation of the vision–motor mapping relationship in an environment without the knowledge of statistical noise. Based on the adaptive estimator, a model-free VS schema was constructed by introducing an active disturbance rejection control (ADRC). In our schema, the VS system was designed independently of the robot kinematic model.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>The various simulations and experiments were conducted to verify the proposed approach by using an eye-in-hand robot manipulator without calibration and vision depth information, which can improve the autonomous maneuverability of the robot and also allow the robot to adapt its motion according to the image feature changes in real time. In the current method, the image feature trajectory was stable in the camera field range, and the robot’s end motion trajectory did not exhibit shock retreat. The results showed that the steady-state errors of image features was within 19.74 pixels, the robot positioning was stable within 1.53 mm and 0.0373 rad and the convergence rate of the control system was less than 7.21 s in real grasping tasks.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>Compared with traditional Kalman filtering for image-based VS and position-based VS methods, this paper adopts the model-free VS method based on the adaptive mapping estimator combination with the ADRC controller, which is effective for improving the dynamic performance of robot systems. The proposed model-free VS schema is suitable for robots’ grasping manipulation in unstructured environments.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141059206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Pose detection and docking control for autonomous dynamic docking mechanism with non-cooperative targets","authors":"Gan Zhan, Zhihua Chen, Zhenyu Zhang, Jigang Zhan, Wentao Yu, Jiehao Li","doi":"10.1108/ir-11-2023-0287","DOIUrl":"https://doi.org/10.1108/ir-11-2023-0287","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>This study aims to address the issue of random movement and non coordination between docking mechanisms and locking mechanisms, and proposes a comprehensive dynamic docking control architecture that integrates perception, planning, and motion control.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>Firstly, the proposed dynamic docking control architecture uses laser sensors and a charge-coupled device camera to perceive the pose of the target. The sensor data are mapped to a high-dimensional potential field space and fused to reduce interference caused by detection noise. Next, a new potential function based on multi-dimensional space is developed for docking path planning, which enables the docking mechanism based on Stewart platform to rapidly converge to the target axis of the locking mechanism, which improves the adaptability and terminal docking accuracy of the docking state. Finally, to achieve precise tracking and flexible docking in the final stage, the system combines a self-impedance controller and an impedance control algorithm based on the planned trajectory.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Extensive simulations and experiments have been conducted to validate the effectiveness of the dynamic docking system and its control architecture. The results indicate that even if the target moves randomly, the system can successfully achieve accurate, stable and flexible dynamic docking.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This research can provide technical guidance and reference for docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141153377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Real-time collision detection based on external torque mutation suppression and time series analysis","authors":"Tianyi Zhang, Haowu Luo, Ning Liu, Feiyan Min, Zhixin Liang, Gao Wang","doi":"10.1108/ir-12-2023-0338","DOIUrl":"https://doi.org/10.1108/ir-12-2023-0338","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>As the demand for human–robot collaboration in manufacturing applications grows, the necessity for collision detection functions in robots becomes increasingly paramount for safety. Hence, this paper aims to improve the existing method to achieve efficient, accurate and sensitive robot collision detection.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The external torque is estimated by momentum observers based on the robot dynamics model. Because the state of the joints is more accessible to distinguish under the action of the suppression operator proposed in this paper, the mutated external torque caused by joint reversal can be accurately attenuated. Finally, time series analysis (TSA) methods can continuously generate dynamic thresholds based on external torques.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Compared with the collision detection method based only on TSA, the invalid time of the proposed method is less during joint reversal. Although the soft-collision detection accuracy of this method is lower than that of the symmetric threshold method, it is superior in terms of detection delay and has a higher hard-collision detection accuracy.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>Owing to the mutated external torque caused by joint reversal, which seriously affects the stability of time series models, the collision detection method based only on TSA cannot detect continuously. The consequences are disastrous if the robot collides with people or the environment during joint reversal. After multiple experimental verifications, the proposed method still exhibits detection capabilities during joint reversal and can implement real-time collision detection. Therefore, it is suitable for various engineering applications.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141059215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Path planning for robotic fish based on improved RRT* algorithm and dynamic window approach","authors":"Yong Fu, Kun Chen, Li He, Hui Tan Wang","doi":"10.1108/ir-12-2023-0349","DOIUrl":"https://doi.org/10.1108/ir-12-2023-0349","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The purpose of this paper is to address two major challenges faced by robotic fish when operating in underwater environments: insufficient path planning capabilities and difficulties in avoiding dynamic obstacles. To achieve this, a method is proposed that combines the Improved Rapid Randomized Tree Star (IRRT*) with the dynamic window approach (DWA).</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The RRT-connect algorithm is used to determine an initial feasible path quickly. The quality of sampling points is then improved by dividing the regions and selecting each region’s probability based on its fitness value. The fitness function and roulette wheel method are introduced for region selection. Subtarget points of the DWA algorithm are extracted from the IRRT* algorithm to achieve real-time dynamic path planning.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>In various maps, the iteration count for the IRRT* algorithm decreased by 61%, 35% and 51% respectively, compared to the RRT* algorithm, whereas the iteration time was reduced by 75%, 34% and 57%, respectively. In addition, the IRRT*-DWA algorithm can successfully navigate through multiple dynamic obstacles, and the average time, path length, etc. do not change much when parameters change, and the stability is high.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>A novel IRRT*-DWA algorithm is proposed, which, by refining the sampling strategy and updating sub-target points in real time, not only addresses the limitations of existing algorithms in terms of path planning efficiency in complex environments but also enhances their capability to avoid dynamic obstacles. Ultimately, experimental results indicate a high level of similarity between the actual and ideal paths.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"49 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141059139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Research on improved active disturbance rejection control strategy for hydraulic-driven Stewart stabilization platform","authors":"Xingyu Qu, Zhenyang Li, Qilong Chen, Chengkun Peng, Qinghe Wang","doi":"10.1108/ir-03-2024-0086","DOIUrl":"https://doi.org/10.1108/ir-03-2024-0086","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>In response to the severe lag in tracking the response of the Stewart stability platform after adding overload, as well as the impact of nonlinear factors such as load and friction on stability accuracy, a new error attenuation function and a parallel stable platform active disturbance rejection control (ADRC) strategy combining cascade extended state observer (ESO) are proposed.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>First, through kinematic modeling of the Stewart platform, the relationship between the desired pose and the control quantities of the six hydraulic cylinders is obtained. Then, a linear nonlinear disturbance observer was established to observe noise and load, to enhance the system’s anti-interference ability. Finally, verification was conducted through simulation.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Finally, stability analysis was conducted on the cascaded observer. Experiments were carried out on a parallel stable platform with six degrees of freedom involving rotation and translation. In comparison to traditional PID and ADRC control methods, the proposed control strategy not only endows the stable platform with strong antiload disturbance capability but also exhibits faster response speed and higher stability accuracy.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>A new error attenuation function is designed to address the lack of smoothness at <em>d</em> in the error attenuation function of the ADRC controller, reducing the system ripple caused by it. Finally, a combination of linear and nonlinear ESOs is introduced to enhance the system's response speed and its ability to observe noise and load disturbances. Stability analysis of the cascade observer is carried out, and experiments are conducted on a six-degree-of-freedom parallel stable platform with both rotational and translational motion.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"43 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Structural design and coupling analysis of multimode variable coupling parallel mobile robots","authors":"Yiwen Jiang, Chunyan Zhang","doi":"10.1108/ir-01-2024-0011","DOIUrl":"https://doi.org/10.1108/ir-01-2024-0011","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>There is coupling between the branches of mobile parallel robots, similar to traditional parallel mechanisms, but there is currently relatively little research on the coupling problem between the branches of mobile parallel robots.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This study optimizes the coupling analysis method of traditional parallel mechanisms, treats the mobile parallel mechanism as a whole, takes the motion of the active pair as input and the overall motion of the mobile parallel mechanism as output and analyzes the input–output characteristics of the mobile parallel mechanism. Moreover, this study applies this theory to a mobile parallel mechanism, designs control logic and finally conducts simulation and physical verification.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>This study proposes a coupling analysis method suitable for parallel mobile robots and designs the control logic of their active pair based on the results of their coupling analysis. This study designs a multimode variable coupling parallel mobile robot, which can change the coupling of the mechanism by changing its own branch chain structure, so that it can switch between different coupling configurations to meet the different needs brought by different terrains.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>The work presented in this paper propose a method for analyzing the coupling of mobile parallel robots and simplify their control logic by applying coupling theory to the design of mobile parallel robots. This study conducts simulation and physical experiments, thereby filling the gap in the coupling analysis of parallel mobile robots and laying the foundation for the research of uncoupled parallel mobile robots.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"22 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A trajectory planning method for robotic arms based on improved dynamic motion primitives","authors":"Xiaohui Jia, Bin Zhao, Jinyue Liu, Shaolong Zhang","doi":"10.1108/ir-12-2023-0322","DOIUrl":"https://doi.org/10.1108/ir-12-2023-0322","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>Traditional robot arm trajectory planning methods have problems such as insufficient generalization performance and low adaptability. This paper aims to propose a method to plan the robot arm’s trajectory using the trajectory learning and generalization characteristics of dynamic motion primitives (DMPs).</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>This study aligns multiple demonstration motion primitives using dynamic time warping; use the Gaussian mixture model and Gaussian mixture regression methods to obtain the ideal primitive trajectory actions. By establishing a system model that improves DMPs, the parameters of the nonlinear function are learned based on the ideal primitive trajectory actions of the robotic arm, and the robotic arm motion trajectory is reproduced and generalized.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>Experiments have proven that the robot arm motion trajectory learned by the method proposed in this article can not only learn to generalize and demonstrate the movement trend of the primitive trajectory, but also can better generate ideal motion trajectories and avoid obstacles when there are obstacles. The maximum Euclidean distance between the generated trajectory and the demonstration primitive trajectory is reduced by 29.9%, and the average Euclidean distance is reduced by 54.2%. This illustrates the feasibility of this method for robot arm trajectory planning.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>It provides a new method for the trajectory planning of robotic arms in unstructured environments while improving the adaptability and generalization performance of robotic arms in trajectory planning.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and optimization of lower limb exoskeleton based on multi-axis knee joint","authors":"Jintian Yun, Deqiang Zhang, Weisheng Cui, Shuai Li, Guan Miao","doi":"10.1108/ir-09-2023-0198","DOIUrl":"https://doi.org/10.1108/ir-09-2023-0198","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>The purpose of this paper is to improve the problem of kinematics incompatibility of human–exoskeleton in the existing rigid lower-limb exoskeleton (LLE).</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>In this paper, following an introduction, the motion characteristics of the human knee joint and the design method of the exoskeleton were introduced. A kinematics model of the LLE based on cross-four-bar linkage was obtained. The structural parameters of the LLE mechanism were optimized by the particle swarm optimization algorithm. The predefined trajectories used in the optimization process were derived from the ankle joint, not the instantaneous center of rotation of the knee joint. Finally, the motion deviation of the optimization result was simulated, and the human–exoskeleton coordination experiment was designed to compare with the traditional single-axis knee joint in terms of comfort and coordination.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>The lower limb exoskeleton mechanism obtained in this paper has a good tracking effect on human movement and has been improved in terms of comfort and coordination compared with the traditional single-axis knee joint.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>The customized exoskeleton design method introduced in this paper is relatively simple, and the obtained exoskeleton has better movement coordination than the traditional exoskeleton. It can provide a reference for the design of lower limb exoskeleton and lower limb orthosis.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"187 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140930408","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Accurate kinematic calibration of a six-DoF serial robot by using hybrid models with reduced dimension and minimized linearization errors","authors":"Zhouxiang Jiang, Shiyuan Chen, Yuchen Zhao, Zhongjie Long, Bao Song, Xiaoqi Tang","doi":"10.1108/ir-01-2024-0029","DOIUrl":"https://doi.org/10.1108/ir-01-2024-0029","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>In typical model-based calibration, linearization errors are derived inevitably, and non-negligible negative impact will be induced on the identification results if the rotational kinematic errors are not small enough or the lengths of links are too long, which is common in the industrial cases. Thus, an accurate two-step kinematic calibration method minimizing the linearization errors is presented for a six-DoF serial robot to improve the calibration accuracy.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>The negative impact of linearization on identification accuracy is minimized by removing the responsible linearized kinematic errors from the complete kinematic error model. Accordingly, the identification results of the dimension-reduced new model are accurate but not complete, so the complete kinematic error model, which achieves high identification accuracy of the rest of the error parameters, is combined with this new model to create a two-step calibration procedure capable of highly accurate identification of all the kinematic errors.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>The proportions of linearization errors in measured pose errors are quantified and found to be non-negligible with the increase of rotational kinematic errors. Thus, negative impacts of linearization errors are analyzed quantitatively in different cases, providing the basis for allowed kinematic errors in the new model. Much more accurate results were obtained by using the new two-step calibration method, according to a comparison with the typical methods.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This new method achieves high accuracy with no compromise on completeness, is easy to operate and is consistent with the typical method because the second step with the new model is conveniently combined without changing the sensors or measurement instrument setup.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"262 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140884290","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"3D-AMM: a 3D artificial moment method for path planning of manipulator in multiple obstacles scenario","authors":"Andong Liu, Yawen Zhang, Jiayun Fu, Yuankun Yan, Wen-An Zhang","doi":"10.1108/ir-11-2023-0307","DOIUrl":"https://doi.org/10.1108/ir-11-2023-0307","url":null,"abstract":"<h3>Purpose</h3>\u0000<p>In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector.</p><!--/ Abstract__block -->\u0000<h3>Design/methodology/approach</h3>\u0000<p>A new method for constructing temporary attractive points in 3D has been introduced using the vector triple product approach, which generates the attractive moments that attract the end-effector to move toward it. Second, distance weight factorization and spatial projection methods are introduced to improve the solution of repulsive moments in multiobstacle scenarios. Third, a novel motion vector-solving mechanism is proposed to provide nonzero velocity for the end-effector to solve the problem of limiting the solution of the motion vector to a fixed coordinate plane due to dimensionality constraints.</p><!--/ Abstract__block -->\u0000<h3>Findings</h3>\u0000<p>A comparative analysis was conducted between the proposed algorithm and the existing methods, the improved artificial potential field method and the rapidly-random tree method under identical simulation conditions. The results indicate that the 3D-AMM method successfully plans paths with smoother trajectories and reduces the path length by 20.03% to 36.9%. Additionally, the experimental comparison outcomes affirm the feasibility and effectiveness of this method for obstacle avoidance in industrial scenarios.</p><!--/ Abstract__block -->\u0000<h3>Originality/value</h3>\u0000<p>This paper proposes a 3D-AMM algorithm for manipulator path planning in Cartesian space with multiple obstacles. This method effectively solves the problem of the artificial potential field method easily falling into local minimum points and the low path planning success rate of the rapidly-exploring random tree method.</p><!--/ Abstract__block -->","PeriodicalId":501389,"journal":{"name":"Industrial Robot","volume":"51 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140884187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}