Robot Motion Planning Method Based on Incremental High-Dimensional Mixture Probabilistic Model

Figure 10

A 6-DOF UR10 robot is used to pick and place a cup in various home environments, and the universality of the proposed method is verified. The green grid represents occupied space stored in the octree data structure, and the blue line represents the trajectory of the end effector when the robot performs the pick and place task.

(a) Scene 1: desk

(b) Scene 2: kitchen

(c) Scene 3: microwave oven

(d) Scene 4: cabinet