{"ID":2876240,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.00828","arxiv_id":"2509.00828","title":"An Effective Trajectory Planning and an Optimized Path Planning for a 6-Degree-of-Freedom Robot Manipulator","abstract":"An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a path in the form of a set of line segments that the end-effector should follow. We also assume that we have a method to solve the inverse kinematic problem of the manipulator at each via-point of the trajectory. The proposed method consists of three steps. First, we calculate the feasible region of the manipulator under a specific configuration of the end-effector. Next, we aim to find a trajectory on the line segments and a sequence of joint configurations the manipulator should follow to move the end-effector along the specified trajectory. Finally, we find the optimal combination of solutions to the inverse kinematic problem at each via-point along the trajectory by reducing the problem to a shortest-path problem of the graph and applying Dijkstra's algorithm. We show the effectiveness of the proposed method by experiments.","short_abstract":"An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a path in the form of a set of line segments that the end-effector should follow. We...","url_abs":"https://arxiv.org/abs/2509.00828","url_pdf":"https://arxiv.org/pdf/2509.00828v2","authors":"[\"Takumu Okazaki\",\"Akira Terui\",\"Masahiko Mikawa\"]","published":"2025-08-31T12:59:46Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.SC\",\"math.AC\"]","methods":"[]","has_code":false}