Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
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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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.
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