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Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
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Optimization problems often involve identifying maximum or minimum values under specific constraints. A well-known example is determining the longest horizontal pipe that can be moved around a right-angled corner, where a 3-meter-wide hallway meets a 2-meter-wide hallway. This scenario, common in architectural design and industrial transport, can be understood conceptually through geometric and trigonometric reasoning.To visualize the problem, consider the pipe as a straight line that touches...
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Updated: Mar 25, 2026

Operation of the Collaborative Composite Manufacturing CCM System
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Path planning for manipulators based on the planar constraint RRT* algorithm

Minyue Li1, Wensong Jiang2, Zai Luo3

  • 1The College of Metrology Measurement and Instrument, China Jiliang University, Hangzhou, 310018, PR China.

Scientific Reports
|March 24, 2026
PubMed
Summary

No abstract available in PubMed .

Keywords:
Collision avoidanceManipulatorPath planningPlanar constraintsRRT*

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