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.
|Plan motion for rigid body tree using bidirectional RRT|
|Plan path using RRT for manipulators|
|Interpolate states along path from RRT|
|Trim edges to shorten path from RRT|
|Define workspace region of end-effector goal poses|
|Sample end-effector poses in world frame|
|Visualize workspace bounds, reference frame, and offset frame|
Using manipulators to pick and place objects in an environment may require path planning algorithms like the rapidly-exploring random tree planner.
This example shows how to setup an end-to-end pick-and-place workflow for a robotic manipulator like the KINOVA® Gen3.
Setup an end-to-end pick and place workflow for a robotic manipulator like the KINOVA® Gen3.