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Manipulator Planning

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.


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manipulatorRRTPlan motion for rigid body tree using bidirectional RRT (Since R2020b)
planPlan path using RRT for manipulators (Since R2020b)
interpolateInterpolate states along path from RRT (Since R2020b)
shortenTrim edges to shorten path from RRT (Since R2020b)
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 datasets 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 (Since R2021b)
sampleUniformSample state using uniform distribution (Since R2021b)
sampleGaussianSample state using Gaussian distribution (Since R2021b)
manipulatorCollisionBodyValidatorValidate states for collision bodies of rigid body tree (Since R2021b)
isStateValidCheck if state is valid (Since R2021b)
isMotionValidCheck if path between states is valid (Since R2021b)
workspaceGoalRegionDefine workspace region of end-effector goal poses (Since R2021a)
sampleSample end-effector poses in world frame (Since R2021a)
showVisualize workspace bounds, reference frame, and offset frame (Since R2021a)