نسخة أولية وصول مفتوح
RUL-Aware RRT*: Degradation-Balanced Motion Planning for Robotic Manipulators
Robotic manipulators operating over long durations often experience uneven joint degradation, which causes the weakest actuator to fail prematurely, leads to unplanned downtime, and results in significant operational losses. Traditional motion-planning algorithms do not account for joint health conditions and therefore …