Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/complexity/volume-2018/3563846/figures/3563846.fig.003a.svgz" name="3563846.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Motion space in X, Y and Z coordinates</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/complexity/volume-2018/3563846/figures/3563846.fig.003b.svgz" name="3563846.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Motion space in X and Y coordinates</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/complexity/volume-2018/3563846/figures/3563846.fig.003c.svgz" name="3563846.fig.003c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Motion space in X and Z coordinates</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/complexity/volume-2018/3563846/figures/3563846.fig.003d.svgz" name="3563846.fig.003d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Motion space in Y and Z coordinates</td></tr></table>

<div>The motion space of the harvesting robot.</div>

Complexity

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Figure 3

Figure 3: Collision-Free Path-Planning for Six-DOF Serial Harvesting Robot Based on Energy Optimal and Artificial Potential Field 