A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 13

Arm Motion Planning

CONTENTS

13.1 Cartesian motion planning

13.2 Dynamic programming for joint-space planning

13.3 Cartesian-motion action servers

13.4 Wrap-Up

INTRODUCTION

Robot arm motion planning is a broad field with a variety of sub-problems. For example, one may be concerned with the optimal trajectory a robot can execute to get from some start pose to some final pose in minimum time, subject to constraints on the actuator efforts and joint ranges of motion. Another variant is planning arm motions that optimize the mechanical advantage of available actuators, e.g. as in weight lifting. A common problem is planning how to command a robot’s joints to move from an initial pose to a final pose (expressed either in joint space ...