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Collisions in Multiple Dimensions: Problem Solving01:06

Collisions in Multiple Dimensions: Problem Solving

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In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

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Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
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Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

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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.
Here, in order to determine the magnitude of velocity and acceleration for point...
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Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

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Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
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Statically Indeterminate Problem Solving01:16

Statically Indeterminate Problem Solving

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Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
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Related Experiment Video

Updated: Apr 30, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Dynamic obstacle avoidance path planning for collaborative robot based on improved APF-Bi-RRT algorithm.

Yufei Li1, Li Yan1,2, Maixin Wang1

  • 1School of Electrical and Mechanical Engineering, Xi'an Technological University, Xi'an, China.

Science Progress
|April 28, 2026
PubMed
Summary
This summary is machine-generated.

A new dynamic obstacle avoidance algorithm, improved APF-Bi-RRT, helps collaborative robots navigate smoothly around moving obstacles. This method enhances path quality and ensures seamless joint operation for robots in complex environments.

Keywords:
artificial potential fieldbidirectional rapidly-exploring random treecollaborative robotdynamic obstacle avoidancepath planning

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Control Systems

Background:

  • Collaborative robots require advanced path planning for dynamic environments.
  • Existing algorithms struggle with real-time obstacle avoidance and smooth operation.

Purpose of the Study:

  • To develop a dynamic obstacle avoidance algorithm for collaborative robots.
  • To improve path planning smoothness and joint operation in the presence of dynamic obstacles.

Main Methods:

  • Proposed the improved APF-Bi-RRT algorithm, combining Artificial Potential Field (APF) and Bidirectional Rapidly-exploring Random Tree (Bi-RRT).
  • Constructed a cost function to minimize joint angle changes for path node selection.
  • Reconstructed gravitational and repulsive field functions in joint space to account for dynamic obstacles.

Main Results:

  • The improved APF-Bi-RRT algorithm successfully enabled dynamic obstacle avoidance for collaborative robots.
  • Simulations demonstrated smoother paths and consistent joint operation compared to traditional methods.
  • Validated effectiveness in environments with both static and dynamic obstacles.

Conclusions:

  • The improved APF-Bi-RRT algorithm provides an effective solution for dynamic obstacle avoidance in collaborative robotics.
  • The method enhances path quality and operational smoothness, crucial for real-world applications.
  • This approach contributes to safer and more efficient human-robot collaboration.