What question did this study set out to answer?

The aim is to optimize path planning for 6-DOF robotic arms in dynamic environments while minimizing jerk and energy consumption.

February 24, 2026Scientific ReportsOpen Access

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

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Authors

AEAbdelrahman T. ElgohrMansoura University MRMaher RashadTanta University EEEman M. El-GendyMansoura University

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Implication

This research demonstrates enhanced trajectory planning for robotic arms, suggesting significant jerk reduction and improvements in motion efficiency.

Key Points

The aim is to optimize path planning for 6-DOF robotic arms in dynamic environments while minimizing jerk and energy consumption.
Developed a two-stage framework for collision-free path planning using B-spline interpolation and BiRRT.
Utilized two metaheuristic optimizers: Whale Genetic Algorithm and Grey Wolf Optimizer.
Minimized trajectory length, joint energy consumption, and jerk for the robotic arm.
The proposed optimizers reduced jerk by approximately 94-96% compared to the initial Bi-RRT trajectory.
There were minor increases in trajectory length and energy consumption following the optimizations.
The final paths adhered to all kinematic constraints and were collision-free.

Cite This Study

Elgohr et al. (2026) studied this question.

synapsesocial.com/papers/699d3fe6de8e28729cf64c26 https://doi.org/10.1038/s41598-026-37676-8

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Implication

This research demonstrates enhanced trajectory planning for robotic arms, suggesting significant jerk reduction and improvements in motion efficiency.

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

Discussion

Member takes

Implication

Key Points

Cite This Study

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

Discussion

Member takes

Implication

Key Points

Cite This Study

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