{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T05:14:22Z","timestamp":1773810862131,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2024,6,24]],"date-time":"2024-06-24T00:00:00Z","timestamp":1719187200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"948 Project of Introduction of International Advanced Agricultural Science and Technology, the Ministry of Agriculture, China","award":["2016-X34"],"award-info":[{"award-number":["2016-X34"]}]},{"name":"Anhui Provincial Key Laboratory of Smart Agricultural Technology and Equipment","award":["2016-X34"],"award-info":[{"award-number":["2016-X34"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>It is worthwhile to calculate the execution cost of a manipulator for selecting a planning algorithm to generate trajectories, especially for an agricultural robot. Although there are various off-the-shelf trajectory planning methods, such as pursuing the shortest stroke or the smallest time cost, they often do not consider factors synthetically. This paper uses the state-of-the-art Python version of the Robotics Toolbox for manipulator trajectory planning instead of the traditional D\u2013H method. We propose a cost function with mass, iteration, and residual to assess the effort of a manipulator. We realized three inverse kinematics methods (NR, GN, and LM with variants) and verified our cost function\u2019s feasibility and effectiveness. Furthermore, we compared it with state-of-the-art methods such as Double A* and MoveIt. Results show that our method is valid and stable. Moreover, we applied LM (Chan \u03bb = 0.1) in mobile operation on our agricultural robot platform.<\/jats:p>","DOI":"10.3390\/s24134096","type":"journal-article","created":{"date-parts":[[2024,6,24]],"date-time":"2024-06-24T06:59:58Z","timestamp":1719212398000},"page":"4096","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Novel Cost Calculation Method for Manipulator Trajectory Planning"],"prefix":"10.3390","volume":"24","author":[{"given":"Leiyang","family":"Fu","sequence":"first","affiliation":[{"name":"School of Information and Artificial Intelligence, Anhui Agricultural University, Hefei 230036, China"},{"name":"Anhui Provincial Key Laboratory of Smart Agricultural Technology and Equipment, Hefei 230036, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaowen","family":"Li","sequence":"additional","affiliation":[{"name":"School of Information and Artificial Intelligence, Anhui Agricultural University, Hefei 230036, China"},{"name":"Anhui Provincial Key Laboratory of Smart Agricultural Technology and Equipment, Hefei 230036, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,6,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1177\/02783640122067453","article-title":"Randomized kinodynamic planning","volume":"20","author":"Valle","year":"2001","journal-title":"Int. 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