Trajectory Planning for Robot Manipulators

[@marcojimenez9327]

Amazing video, my only complaint is that i needed this like 2 years ago LOL. A teacher kept saying vague stuff about LSPB. Woke up today, already finished my undergrad degree, at 4 am googled LSPB and found this absolute gem of a video. Thanks as always MATLAB.

[@RESC_]

Thank you so much Sebastian, I get confused at a certin point

[@broccoli322]

Extremely clear and concise video. Nice job!

[@prasannavenkatesh5643]

I have similar problem statement. I have PRRR configuration robot and complicated 3D work space. Can I do motion planning only with MATLAB/SIMULINK? If so, Can You guide me thorough from where to start to achieve this? P.S - I have both the robot and workspace 3D model. No live mapping is required.

[@obensustam3574]

Well explained video, thanks!

[@carlleboeuf853]

Is there a built in model of the 6DOF kinova robotic arm or a place to find it?

[@yusefm5727]

Can u recommend me what course can i take to be able do it ,i have a model in SOLIDWORKS and i exported its by multibody but i can't do anything now 🥺🥺

[@sabrinemezrag7459]

hello I was wondering how does that motion shown in the trajectory generation script work , I executed the code but it wasn't following the waypoints

[@anthony3604]

Thank you for the video . I would like to ask you if for the trapezoidal trajectory even if the x y z speeds are varying , can the tangeantial speed stay constant .If i take the speed tangeant to the path can it be constant ? Thank you for the content again

[@ehtishamulhassan8376]

I've converted my 7DOF robot solidworks into slx but i can't control my robot's path. Does slx files requires any changes of frames or anything after being import.

[@prayogshala2728]

How can we calculate trajectory planning for cobot model like ur5?

[@roboticseabass]

You can do the same as with this example, but instead of the Kinova Gen3 you can import a URDF model of the UR5!

[@milanliyanage54]

I m doing a project related to manipulators. This tutorial was really helpful for me. But i couldnt run the codes there was a function called "trapveltraj" which is not defined. I'm currently using matlab 2018a version. 2019a is a must ? Do i have other options. I updated the robotic system toolbox as well but nothing changed. If you could help me it would be really appreciated.

[@roboticseabass]

Yes, "trapveltraj" and other functions used in this video are new in R2019a.

[@alefpontessilva1093]

Where can I find the codes?

[@talhaahsan6808]

Please share the code...!

[@waterbell8112]

Hi this is a really interesting work since I am working on robotic manipulators these days. I came up with a question of how you deal with the inverse kinematics problem. I am currently using Moveit! which uses RRT algorithm as a base algorithm in Linux using ROS. However, since the algorithm randomly expands through the map, it mostly gives a trajectory that is not linear when the starting point and the goal point are 0.3m away only on the x-axis. Do you have a special algorithm for solving the inverse kinematics? Because your robot's path looks quite linear. Thank you in advance!

[@roboticseabass]

RRT is used for path planning, but the resulting path from the RRT would then be followed using the trajectory generation/inverse kinematics shown in this video. So they are two separate things. Basically, something like RRT would generate the waypoints for this example. As you've identified, a big downfall of probabilistic motion planning techniques is that the path is not optimal. There are techniques such as RRT* which tries to prune the graph to have less "oscillations", changing the sampling options to have a maximum curvature/angle change between points, etc. An alternative to RRT would be to for instance to take advantage of MATLAB's optimization tools to come up with trajectory parameters that maximize smoothness (objective function) while keeping away from obstacles (linear/nonlinear constraints).

[@waterbell8112]

@@roboticseabass Thank you very much for your kind answer. So how much more time will it take if you use the optimization tools to make the trajectory smooth?

[@roboticseabass]

@@waterbell8112 It'll probably add some time... especially if the optimization problem is difficult to solve and doesn't converge!

[@waterbell8112]

@@roboticseabass Alright thanks!! I will try my best :)

[@muhammadzeeshan8409]

Waterbell Hi bro! I am doing same work as you using ROS and Ubuntu for ur5 robot trajectory generation, i need your help. If you can help me out I will be very thankful to you

[@fouadfouad-kg6kl]

hello everyone thanks for the video , where can i find the link to download the code

[@irzumshafique]

Have you found the code? If yes please share

[@KhalilChatti-e5u]

Does the SLERP exist in Simulink as a block

The Rotation Trajectory is still code generated even in the .slx file

[@KhalilChatti-e5u]

and how to use it inside simulink ?

[@williamhuang5329]

Hanzhen harmonic drive gear , robot joint , strain wave reducer , over 30 years experience

[@yulinwang6676]

when I run it, it says Undefined function 'inverseKinematics' for input arguments of type 'robotics.RigidBodyTree', what does that mean and what am I supposed to do

[@roboticseabass]

In R2019b they removed the "namespacing" from the toolbox, so robotics.inverseKinematics just became inverseKinematics. You're likely on an older version, so make sure you download an older release (1.0) from github.com/mathworks-robotics/trajectory-planning-robot-manipulators/releases

[@sriharshatallam8547]

i just copied your code (manipTrajCartesian.m) when i run the code...it is showing many errors......( example-line 13).. do ihave to download any file for Gen 3???

[@roboticseabass]

The files should all be in the submission. Did you run the startupExample.m script first? If you email us at [e-mail] with your steps and error messages, we can take a look.

[@talhaahsan6808]

Where do you get the code .? Please share .

[@talhaahsan6808]

@@roboticseabass I will do as I need some help in that and also the code.

[@owenhe5070]

Hi Sebastian~ I am learning ROS and Kinova Jaco2 together, and I am also familiar with MATLAB. My question is how to control the end-effector of Jaco2 to draw different shapes via trajectory planning under ROS without using Matlab. I heard this is an easier way to acheive this goal. If not, how to realize this using Matlab? Thanks a lot~ Appreciated~

[@priyampanchal1617]

If you ever find a solution to this, please comment! :)

[@wastedangelematis]

We crave for moar !!!!!!!!1

[@milanliyanage54]

Can i have the matlab code that you have been used in the tutorial?

[@roboticseabass]

The files are available here: www.mathworks.com/matlabcentral/fileexchange/71130-trajectory-planning-for-robot-manipulators

[@socrates1796]

I came from dont know anything to become more confused

[@jaeyounglee574]

these are not necessary! Setup and Running on Hardware - kinova gen3 6 dof

[@kirandeshmukh1944]

never mind I got it