|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. The planner explores in the joint-configuration space and searches for a collision-free path between different robot configurations. This example shows how to use the
manipulatorRRT object to tune the planner parameters and plan a path between two joint configurations based on a
rigidBodyTree robot model of the Franka Emika™ Panda robot. After tuning the planner parameters, the robot manipulator plans a path to move a can from one place to another.
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.