Manipulator Planning

R2026b
Manipulator motion and path planning using RRT and CHOMP

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 manipulatorRRT to plan paths in the joint space using the rapidly exploring random tree (RRT) algorithm. Use manipulatorCHOMP to plan and optimize smooth, collision-free trajectories using covariant Hamiltonian optimization for motion planning (CHOMP) algorithm.

Functions

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manipulatorRRTPlan motion for rigid body tree using bidirectional RRT
planPlan path using RRT for manipulators
interpolateInterpolate states along path from RRT
shortenTrim edges to shorten path from RRT
manipulatorCHOMPCovariant Hamiltonian optimizer for rigid body tree motion planning (Since R2023a)
optimizeOptimize trajectory using CHOMP (Since R2023a)
showVisualize CHOMP trajectory of rigid body tree (Since R2023a)
bpsEncoderBasis point set encoder (Since R2024a)
dlCHOMPDeep learning initial guesser powered CHOMP (Since R2024a)
dlCHOMPDatastoreDatastore for training and validating deep-learning-based CHOMP optimizer (Since R2024a)
generateSamplesGenerate data sets for training deep-learning-based CHOMP optimizer (Since R2024a)
trainDLCHOMPTrain deep-learning-based CHOMP optimizer (Since R2024a)
optimizeOptimize trajectory using deep-learning-based CHOMP (Since R2024a)
manipulatorStateSpaceState space for rigid body tree robot models
sampleUniformSample state using uniform distribution
sampleGaussianSample state using Gaussian distribution
manipulatorCollisionBodyValidatorValidate states for collision bodies of rigid body tree
isStateValidCheck if state is valid
isMotionValidCheck if path between states is valid
workspaceGoalRegionDefine workspace region of end-effector goal poses
sampleSample end-effector poses in world frame
showVisualize workspace bounds, reference frame, and offset frame

Topics

Using Motion Planners for Pick-and-Place

Featured Examples

Detect and Harvest Fruit Using UR10 Manipulator in Gazebo

Detect and Harvest Fruit Using UR10 Manipulator in Gazebo

Set up UR10 manipulator and simulate it in Gazebo simulator to perform fruit pick-and-place application.

Train Deep-Learning-Based CHOMP Optimizer for Motion Planning

Train Deep-Learning-Based CHOMP Optimizer for Motion Planning

Train a dlCHOMP optimizer for motion planning in a complex spherical obstacle environment.

Plan Path of Robotic Arm Mounted on Quadrotor

Plan Path of Robotic Arm Mounted on Quadrotor

Plan geometric paths free of collisions for floating-base systems such as a quadrotor.

Plan Path for Manipulator in Simulink with Robotics System Toolbox

Plan Path for Manipulator in Simulink with Robotics System Toolbox

Simulate manipulator path planning in Simulink® with code generation for autonomy functions from MATLAB.

Pick-And-Place Workflow Using CHOMP for Manipulators

Pick-And-Place Workflow Using CHOMP for Manipulators

Use CHOMP to plan smooth and collision-free trajectories for a pick-and-place workflow.

Motion Planning for Backhoe Using RRT

Motion Planning for Backhoe Using RRT

Plan an obstacle-free path for a backhoe using RRT and simulate the motion in Simscape™ Multibody™.