How to optimise path for robotic manipulator with obstacle avoidance??

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Ravi Shankar S S
Ravi Shankar S S 2019-7-17
回答： Dheeraj Singh 2019-8-1
I am using Robotics toolbox for this purpose, I would like to do the path planning for a 5 DOF robotic manipulator with static obstacle avoidance.
I would like to know how this done as such in the video given below??
https://www.mathworks.com/videos/design-a-pick-and-place-robotics-application-with-matlab-and-simulink-122950.html

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回答（1 个）

Dheeraj Singh
Dheeraj Singh 2019-8-1
For a 2D environment, you can use PRM .
For building the environment you need to give the environment and number of points as input to the PRM and it will build a collision free MAP of the environment in the form of a graph.
Now using the start and goal locations you can find the shortest path from the above created MAP.

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