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Manipulator Motion Planning

Path planning using RRT and rigid body trees

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 the manipulatorRRT to plan paths in the joint space using the rapidly-exploring random tree (RRT) algorithm.


manipulatorRRTPlan motion for rigid body tree using bidirectional RRT
manipulatorStateSpaceState space for rigid body tree robot models
manipulatorCollisionBodyValidatorValidate states for collision bodies of rigid body tree
workspaceGoalRegionDefine workspace region of end-effector goal poses


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planPlan path using RRT for manipulators
interpolateInterpolate states along path from RRT
shortenTrim edges to shorten path from RRT
isStateValidCheck if state is valid
isMotionValidCheck if path between states is valid
sampleSample end-effector poses in world frame
showVisualize workspace bounds, reference frame, and offset frame