Planificación de trayectorias de manipuladores
El proceso de planificación de trayectorias del manipulador implica planificar rutas en un espacio dimensional alto en función de los grados de libertad (DOF) del robot y las restricciones cinemáticas del modelo de robot. Las restricciones cinemáticas del modelo de robot se especifican como un objeto rigidBodyTree
. Utilice manipulatorRRT
para planificar rutas en el espacio articular utilizando el algoritmo de árbol aleatorio de exploración rápida (RRT).
Objetos
manipulatorRRT | Plan motion for rigid body tree using bidirectional RRT |
manipulatorStateSpace | State space for rigid body tree robot models |
manipulatorCollisionBodyValidator | Validate states for collision bodies of rigid body tree |
workspaceGoalRegion | Define workspace region of end-effector goal poses |
Funciones
Temas
- 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.
- Motion Planning for Backhoe Using RRT
This example shows how to plan a path for a backhoe, in an environment that contains obstacles, by using a motion planner.
- Reduce Motion Planning Times Using Capsule Approximation
This example shows how to approximate the collision geometries of a rigid body tree using a
capsuleApproximation
object and then perform motion planning with amanipulatorRRT
object.