# Trajectory Planning and Singularity Avoidance Algorithm for Robotic Arm Obstacle Avoidance Based on an Improved Fast Marching Tree

> Research article (Applied Sciences, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4394754120](https://www.wikidata.org/wiki/openalex:W4394754120)  
**Source**: https://4ort.xyz/entity/trajectory-planning-and-singularity-avoidance-algorithm-for-robotic-arm-obstacle-avoidance-based-on-an-improved-fast-mar