TC-SRRT*HAC: A HAC controller-based Trackability- Constrained Spatio-temporal RRT* for Manipulator Motion Planning in Dynamic Environments

We propose TC-SRRTHAC for real-time motion planning and tracking in dynamic environments. A trackability constraint (TC) prunes the search to trajectories that are executable under controller limits on velocity, acceleration, and bandwidth, while enforcing collision safety. On this basis, the TC-SRRT planner performs spatiotemporal planning with moving obstacles and timing constraints, using goal-region expansion, conditional sampling, and efficient rewiring to find feasible collision-free paths with reduced arrival time. For trajectory tracking, a Hedge Algebra Controller (HAC) employs a semantically structured linguistic representation. In simulation and hardware experiments on a 4-DOF manipulator, TC-SRRT*HAC achieves RMSEs of 0.96 − 1.72 mm and 1.45 − 2.08 mm, respectively, with 23% lower tracking error and 10% lower control energy than an FLC baseline, while keeping planning latency below 200 ms -supporting its use in precision industrial automation under dynamic conditions.