Trajectory planning for manipulator grasping with obstacle avoidance and visual occlusion in a complex environment

Wang, Jue; Sun, Xiaoxiang; Wang, Wei

doi:10.5194/ms-16-445-2025

Articles | Volume 16, issue 2

https://doi.org/10.5194/ms-16-445-2025

© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/ms-16-445-2025

© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 16, issue 2

Research article

|

10 Sep 2025

Research article |

| 10 Sep 2025

Trajectory planning for manipulator grasping with obstacle avoidance and visual occlusion in a complex environment

Jue Wang, Xiaoxiang Sun, and Wei Wang

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Total article views: 1,828 (including HTML, PDF, and XML)

HTML	PDF	XML	Total	Supplement	BibTeX	EndNote
1,163	583	82	1,828	50	68	109

HTML: 1,163
PDF: 583
XML: 82
Total: 1,828
Supplement: 50
BibTeX: 68
EndNote: 109

Views and downloads (calculated since 10 Sep 2025)

Month	HTML	PDF	XML	Total
Sep 2025	352	27	9	388
Oct 2025	88	21	4	113
Nov 2025	92	34	2	128
Dec 2025	95	66	12	173
Jan 2026	75	44	6	125
Feb 2026	70	41	14	125
Mar 2026	49	117	10	176
Apr 2026	126	85	7	218
May 2026	114	61	8	183
Jun 2026	10	15	1	26
Jul 2026	24	40	2	66
Aug 2026	25	20	2	47
Sep 2026	43	12	5	60

Cumulative views and downloads (calculated since 10 Sep 2025)

Month	HTML	PDF	XML	Total
Sep 2025	352	27	9	388
Oct 2025	88	21	4	113
Nov 2025	92	34	2	128
Dec 2025	95	66	12	173
Jan 2026	75	44	6	125
Feb 2026	70	41	14	125
Mar 2026	49	117	10	176
Apr 2026	126	85	7	218
May 2026	114	61	8	183
Jun 2026	10	15	1	26
Jul 2026	24	40	2	66
Aug 2026	25	20	2	47
Sep 2026	43	12	5	60

Latest update: 18 Sep 2026

Short summary

In this paper, an obstacle avoidance grasping path planning method based on monocular vision is proposed. This approach achieves 99.50 % recognition accuracy in complex scenes, and the smoothness and motion efficiency of the optimized trajectory are improved by about 60 % and 10 %, respectively.