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.

Generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose. The timing of the trajectories is based on an approximate desired end of arm tool (EOAT) speed.

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.