| This paper addresses dynamic trajectory planning, which is deened as motion planning for a robot A moving in a dynamic workspace W, i.e. a workspace cluttered up with stationary and moving obstacles. Besides A is subject both to kinematic constraints, i.e. constraints involving the connguration parameters of A and their derivatives, and dynamic constraints, i.e. constraints on the forces, the...

Abstract More and more industrial robots need high-precision trajectory control, but the traditional PID control is difficult to achieve. The simulation diagram pose of collision free mechanism are drawn by using rosty software. At same time, through experiment MOTOMAN-HP3 robot, VC + application program call external interface function motocom32 software, planning realized. linear circular rob...

PURPOSE The authors propose a novel optimization model for volumetric modulated arc therapy (VMAT) planning that directly optimizes deliverable leaf trajectories in the treatment plan optimization problem, and eliminates the need for a separate arc-sequencing step. METHODS In this model, a 360° arc is divided into a given number of arc segments in which the leaves move unidirectionally. This ...