A Review of Motion Planning Algorithms for Robotic Arm Systems

Shuai Liu, Pengcheng Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Motion planning plays a vital role in the field of robotics. This paper discusses the latest advancements made in the research and development of various algorithms and approaches in motion planning in the past five years, with a strong focus on robotic arm systems. Most of the recent motion planning algorithms are based on random sampling algorithms. More effective algorithms such as optimization-based, Probabilistic Movement Primitives (ProMPs)-based and physics-based methods are feasible research directions to explore to improve the effectiveness. The evaluation benchmarking of the algorithm is a worthy research direction. The model-based methods can improve the efficiency of the task, but it has less ability to deal with accidents. In contrast, model-free methods can solve this problem, but it takes a long time to compute. This paper also provides an insight into the robotic manipulation of rigid and non-rigid (deformable) objects is explored. Based on the study, some challenges and future research trends are summarized, and some algorithms and approaches are suggested for the most efficient use of the robotic arms.
Original languageEnglish
Title of host publication8th International Conference on Robot Intelligence Technology and Applications (proceedings)
Publication statusAccepted/In press - 15 Nov 2020
EventThe 8th International Conference on Robot Intelligence Technology and Applications - Cardiff, Cardiff, United Kingdom
Duration: 11 Dec 202013 Dec 2020


ConferenceThe 8th International Conference on Robot Intelligence Technology and Applications
Country/TerritoryUnited Kingdom

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