Purpose – The purpose of this paper is to develop a portable all‐position welding robot for the welding of intersected pipes. Design/methodology/approach – A complete procedure is adopted to conduct the design. The task and motion of the robot are analyzed and a mathematical description of...

Purpose – The purpose of this paper is to present a new nested rapidly‐exploring random tree (RRT) algorithm for fault tolerant motion planning of robotic manipulators. Design/methodology/approach – Another RRT algorithm is nested within the general RRT algorithm. This second nested level...