A5049606274- Tribology and Lubrication Engineering
- Gear and Bearing Dynamics Analysis
- Hydraulic and Pneumatic Systems
- Mineral Processing and Grinding
- Robotic Mechanisms and Dynamics
- Magnetic Bearings and Levitation Dynamics
- Robotics and Sensor-Based Localization
- Granular flow and fluidized beds
- Rheology and Fluid Dynamics Studies
- Machine Fault Diagnosis Techniques
- Robotic Path Planning Algorithms
- Lubricants and Their Additives
Wuhan Ship Development & Design Institute
2025
Naval University of Engineering
2025
Xi'an Jiaotong University
1992-2024
Traditional six-degree-of-freedom manipulators struggle with obstacle avoidance and smooth target point arrival. This paper focuses on trajectory planning for a seven-degree-of-freedom redundant manipulator, introducing optimization algorithm based improved RRT* (I-RRT*) cubic spline smoothing. The I-RRT* addresses the randomness in search tree expansion enhances orientation through an adaptive growth strategy mixed sampling. In experimental section, method is compared to APF-RRT*, APF-RRT,...