Dynamic quality aware path planning for 6 DoF robotic arms using BiRRT and metaheuristic optimization based on B spline paths

Abstract Industrial robotic arms utilized in contemporary industrial and collaborative environments must operate within increasingly congested and dynamically restricted workspaces while adhering to rigorous standards of safety, precision, and motion quality. This paper presents a two-stage framewor...

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Principais autores:	Abdelrahman T. Elgohr, Maher Rashad, Eman M. El-Gendy, Waleed Shaaban, Mahmoud M. Saafan
Formato:	Artigo
Idioma:	Inglês
Publicado:	Nature Portfolio 2026-02-01
Series:	Scientific Reports
Assuntos:	Path planning Bi-RRT B-spline Metaheuristic optimization WGA GWO
Acceso en liña:	https://doi.org/10.1038/s41598-026-37676-8
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