Manipulator Motion Planning
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.
State Space and Validator
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.
Plan a manipulator robot path using sampling-based planners like the rapidly-exploring random trees (RRT) algorithm.