Vision-Based Intelligent Perceiving and Planning System of a 7-DoF Collaborative Robot

Figure 15

Performance of improved RRT with the trajectory planning result and the trajectory only. (a, b) Object 1 trajectory planning. (c, d) Object 2 trajectory planning. (e, f) Object 3 trajectory planning. (g, h) Object 4 trajectory planning. (i, j) Object 5 trajectory planning.

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