MotionPlanner

IK Solver

• using CCD (Cyclic Coordinate Descent) align each link to the target, starting from the end effector to the start link

• continue this process until the end effector reaches the target position

• visualize this iterative process through an OpenGL window

Path Solver

• upload an image of obstacles in the world, so that the origin of the simulated arm is in the center of the image

  • specify a scale between the obstacles in the image and the arm itself

  Cartesian Spce

  • knowing the beginning and end cartesian positions of the end effector use the PathSolver class to solve for a path avoiding obstacles

  Joint Space

  • knowing the beginning and end joint positions (by using the IK Solver), use the JointSpaceSolver class to solve for a path avoiding obstacles

• both scenarios use the A* path finding algorithm, using IK or FK at each position to determine if the position of the tip of end effector is valid (i.e. not touching any obstacles)

  • calculate the "weights" at each position by determining the Euclidean distance between the start and end

TO DO: ensure that no part of the link if touching any obstacles, not just the tip of the end effector

Other

• visualize the Joint Space of any 2-joint system, given the Cartesian Space