Path Planning - LCAS/RBT1001 GitHub Wiki

Task 1 - cartesian path

In this task, you will implement a very simple path planning algorithm for a set of target Cartesian coordinates.

  1. :arrow_forward: :technologist: Open the script week8/trajectory_planning.py and go to the function plan_cartesian_trajectory(self) which contains a template for solving the task.
  2. :arrow_forward: :technologist: Complete the missing parts of the code. NOTE 1: the functionalities for plotting your path are already implemented. NOTE 2: you can use the function compute_ik(target_P, target_R, elbow_up) from inverse_kinematics_analytic.py in order to compute the joint positions.

Task 2 - joint path

In this task you will implement a very simple path planning algorithm for a set of target joint coordinates.

  1. :arrow_forward: :technologist: Similarly as before, open the script week8/trajectory_planning.py and go to the function plan_joint_trajectory(self) which contains a template for solving the task.
  2. :arrow_forward: :technologist: Complete the missing parts of the code. NOTE 1: the functionalities for plotting your path are already implemented. NOTE 2: you can use the function compute_dk(q1,q2,q3,q4,q5,q6) from direct_kinematics.py in order to compute the end effector position.