# Direct Trajectory Planning Method Based on IEPSO and Fuzzy Rewards and Punishment Theory for Multi-Degree-of Freedom Manipulators

> Research article (IEEE Access, 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2912031484](https://www.wikidata.org/wiki/openalex:W2912031484)  
**Source**: https://4ort.xyz/entity/direct-trajectory-planning-method-based-on-iepso-and-fuzzy-rewards-and-punishment-theory-for-multi-degree-of-freedom-man