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

Table 6

Results of improved RRT (first three columns) compared with traditional RRT (last three columns).

	Object 1	Object 2	Object 3	Object 4	Object 5
Error (%)	1.1	2.9	0.4	0.7	0.3
Time (s)	6.08	6.38	5.74	6.45	6.50
Length (mm)	679.5	691.1	668.5	693.0	695.1
Error (%)	2.4	3.7	2.1	1.5	1.7
Time (s)	22.15	24.47	20.87	28.90	30.68
Length (mm)	699.0	707.4	701.5	715.9	709.4