Trajectory planning algorithms are essential in human–robot collaboration (HRC), as they must generate efficient trajectories for seamless interaction. Given the risks and complexity of testing in real-world scenarios, a virtual environment was developed in Unity 3D, integrating a virtual model of the UR3 robot that delivers workpieces to a user equipped with a Meta Quest device. The RRT, RRT-Star (RRTS), and RRT-Connect (RRTC) algorithms were evaluated using ANOVA and Tukey post hoc tests, considering the following response variables: safety, feasibility, smoothness, and computation time across three experimental scenarios characterized by (i) low, (ii) medium, and (iii) high levels of movement of the participant’s left hand. The statistical results indicate that RRTC exhibited the best performance in terms of smoothness and computation time. Based on these findings, a multicriteria decision-making analysis was conducted using the Analytic Hierarchy Process (AHP), combining quantitative evidence derived from the statistical analysis with expert judgments supported by bibliographic references. This multicriteria analysis enabled the coherent integration of the different evaluation criteria and concluded that RRTC is the most suitable alternative for collaborative assembly tasks in HRC environments.
Aguilar et al. (2026) studied this question.