Enhancing Motion Planning for Industrial Robots Using Hybrid Methods and Quaternion Representation Ali Joodi Aalhasan, Bao Song Control Engineering and Applied Informatics, 2025 This research addresses the limitations of relying on single trajectory types, which often resulting jerky and inefficient movements, especially in complex scenarios . This research present an enhanced motion planning methodology for industrial robots that integrates hybrid trajectory methods with quaternion representation . Our approach combines Linear-SLERP, B-Spline, and Bézier curves to achieve smooth, adaptive and efficient path planning suitable for diverse industrial environments. By leveraging the strengths of the trajectory method the hybrid approach ensures continuous and stable robot manipulations. Quaternion representation is utilized to avoid gimbal lock and to provide a robust orientation framework enhancing the motion smoothness of industrial robots . The research implemented proposed method using CoppeliaSim with a 7-DoF Franka Emika Panda robotic arm performing a standard pick-and-place task. The results demonstrate that the proposed hybrid method significantly reduces acceleration and jerk compared to traditional trajectory methods thereby minimizing mechanical stress and enhancing overall motion efficiency . This research offers a novel and effective solution for complex robotic applications ensuring precise and stable operations across various industrial settings. DOI: 10.61416/ceai.v27i1.9217
Collision detection and trajectory planning for palletizing robots based OBB Ali Joodi Jasim Aalhasan, Tang XiaoQi, Song Bao Indonesian Journal of Electrical Engineering and Computer Science, 2016 This paper proposes an algorithm for Collision detection between two convex polyhedra (Boxes). It is assumed that the Palletizing robot’s end effector grasped the Box in accurate incremental method, by compare the distances between objects in same space . The detections proposed by ignorance of time consumption, and make comparisons between performances of theories discussed this problem, like Axes Aligned Bounded Boxes (AABB) and Sphere theories. Oriented Bounded Boxes (OBB) theory is chosen because unspecified orientation of objects which meets the requirements for detecting collisions with accuracy and handling transformations. Transformation assumptions are based on Z-Y-Z Euler’s angles representation. The key factor for detecting collision between two OBB convex polyhedra is the Separating Axes Theorem (SAT). The trajectory algorithm presents incremental distance computation by implementing translation and spherical trajectory. The checking and simulations in C++ language and Auto CAD software, attests that implementations in both show accuracy results.
RECENT SCHOLAR PUBLICATIONS
EFFICIENT COLLISION AVOIDANCE AND MOTION PLANNING FOR INDUSTRIAL ROBOTS BASED ON NSGA-II AND GJK AJ Aalhasan, B Song, Y Liu International Journal of Robotics and Automation 41 (2) , 2026 2026
Enhancing Motion Planning for Industrial Robots Using Hybrid Methods and Quaternion Representation ALIJ AALHASAN, BAO SONG CONTROL ENGINEERING AND APPLIED INFORMATICS 27 (1), 63-74 , 2025 2025 Citations: 1
Collision-free algorithm for industrial robots based GJK and OBB theories AJ Aalhasan, S Bao International Conference on SmartRail, Traffic and Transportation … , 2023 2023 Citations: 2
Collision detection and trajectory planning for palletizing robots based OBB A Jasim, TX Qi, S Bao Indones. J. Electr. Eng. Comput. Sci 1, 109-118 , 2016 2016 Citations: 8
MOST CITED SCHOLAR PUBLICATIONS
Collision detection and trajectory planning for palletizing robots based OBB A Jasim, TX Qi, S Bao Indones. J. Electr. Eng. Comput. Sci 1, 109-118 , 2016 2016 Citations: 8
Collision-free algorithm for industrial robots based GJK and OBB theories AJ Aalhasan, S Bao International Conference on SmartRail, Traffic and Transportation … , 2023 2023 Citations: 2
Enhancing Motion Planning for Industrial Robots Using Hybrid Methods and Quaternion Representation ALIJ AALHASAN, BAO SONG CONTROL ENGINEERING AND APPLIED INFORMATICS 27 (1), 63-74 , 2025 2025 Citations: 1
EFFICIENT COLLISION AVOIDANCE AND MOTION PLANNING FOR INDUSTRIAL ROBOTS BASED ON NSGA-II AND GJK AJ Aalhasan, B Song, Y Liu International Journal of Robotics and Automation 41 (2) , 2026 2026
