Obstacle avoidance path planning for the UR10 robotic manipulator: an improved RRT* algorithm
This dissertation focuses on the path planning of the UR10 robotic manipu- lator. Using the D-H method, the link coordinate frames for the UR10 are established, and both the forward and inverse kinematics are verified. Then this dissertation develops an improved RRT* algorithm. These improvements in...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
| Published: |
Nanyang Technological University
2025
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| Online Access: | https://hdl.handle.net/10356/182318 |
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| Institution: | Nanyang Technological University |
| Language: | English |