Manipulator Motion Planning

Plan collision-free paths for manipulators and convert them to time-optimal trajectories that respect velocity and acceleration limits.

When to Use

• Moving a robot arm between joint configurations or Cartesian poses — regardless of whether the user says "trajectory," "motion," "path," or "plan"
• Generating any trajectory between waypoints (time-optimal, constant-velocity, trapezoidal, minimum-jerk)
• Planning a collision-free path between configurations
• Modeling obstacles as collision environments for planning
• Choosing between motion planners (RRT, CHOMP, dlCHOMP)
• Verifying a trajectory is collision-free
• Any task where the robot moves through space and geometry exists in the workspace — collision safety is implicit even if the user doesn't mention it

When NOT to Use