Design a robotic manipulator path for a dispensing task. A successful path consists of a sequence of collision-free waypoints that are designed and verified in the Inverse Kinematics Designer app. Create waypoints for an adhesive dispensing task, in which the robot picks up two adhesive strips, applies glue, and then applies the strips to a box.

Create an inverse kinematics (IK) solver and constraints using the Inverse Kinematics Designer app. Inverse kinematics (IK) solvers are used in robotics to determine the joint configurations for a robot that satisfies certain constraints. A constrained IK solver can be used to enforce a variety of behaviors, such as end effector pose targets, joint position limits, and other kinematic constraints. In this example, a solver & constraints are designed to enforce a camera aiming behavior for the Willow Garage PR2. The PR2 includes a body that represents a camera sensor. By adding a constraint that forces the camera to point at the left gripper, the camera follows the gripper as it moves, ensuring that the camera will track any object that the gripper is acting on.

이 예제는 엔드 이펙터의 초기 자세에서 원하는 자세로 이동하도록 보간된 조인트 궤적을 생성하고 시뮬레이션하는 방법을 보여줍니다. 궤적의 시간 설정은 대략적으로 원하는 EOAT(end of arm tool) 속도에 기반합니다.

Plan closed-loop collision-free robot trajectories from an initial to a desired end-effector pose using nonlinear model predictive control. The resulting trajectories are executed using a joint-space motion model with computed torque control. Obstacles can be static or dynamic, and can be either set as primitives (spheres, cylinders, boxes) or as custom meshes.

Generate a collision-free trajectory in a constrained workspace. This example shows users how to inspect trajectories for collisions and manually design trajectories. An alternative is to use a motion planner as in Pick and Place Using RRT for Manipulators.