Degeneracy-Aware Full-Pose Path Planning Strategy for Robot Manipulator
Bibliographic record
Abstract
In this article, we present a novel full-pose path planning strategy with degenerate direction avoidance for robot manipulators. Effort seeks to define an efficient multiobjective cost function for finding an optimal path in task space by minimizing the path length, and, meanwhile, maximizing orthogonality to the degenerate direction of the path. Since a robot manipulator by nature is a noncommensurate system, the unit dual quaternion is used to unify the pose representation and formulate the cost function of path length. Additionally, to justify the robot’s ability to maneuver, another cost evaluation of orthogonality is developed on the basis of the analytical Jacobian matrix decomposition. The optimized rapidly exploring random tree (RRT*) is, then, applied to execute the synthesized cost function in planning a path for a six-degree-of-freedom (6-DOF) FANUC-M-20iA industrial robot. By comparing with two relevant path planning methods, simulation analysis results illustrate the superior performance of the proposed path planning approach in terms of path direction and joint change.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".