Manipulator motion planning involves planning paths in high-dimensional space
based on the degree-of-freedom (DOF) of your robot and the kinematic constraints
of the robot model. Kinematic constraints for the robot model are specified as a
rigidBodyTree object. Use
manipulatorRRT to plan paths in the joint space using the rapidly
exploring random tree (RRT) algorithm. Use
manipulatorCHOMP to plan and optimize smooth, collision-free
trajectories using covariant Hamiltonian optimization for motion planning
Sample Manipulator Configuration Space
Validate Robot Configurations and Motion
- Pick and Place Using RRT for Manipulators
Using manipulators to pick and place objects in an environment may require path planning algorithms like the rapidly-exploring random tree planner.
- Pick-and-Place Workflow Using RRT Planner and Stateflow for MATLAB
This example shows how to setup an end-to-end pick-and-place workflow for a robotic manipulator like the KINOVA® Gen3.
- Pick-and-Place Workflow in Gazebo Using Point-Cloud Processing and RRT Path Planning
Set up an end-to-end, pick-and-place workflow for a robotic manipulator like the KINOVA® Gen3.
- Plan Paths With End-Effector Constraints Using State Spaces For Manipulators
Plan a manipulator robot path using sampling-based planners like the rapidly-exploring random trees (RRT) algorithm.