When programming a robot to perform a task, it is very often the case that the robot motions involved must not cause the robot to collide with itself, its environment, its tooling and/or payload, or other robots. Robot programmers can either manually teach the robot trajectories/waypoints which move the robot and its end-effector to its goal around obstacles, or they can use a path planning algorithm. Robot path planning is used to find a valid sequence of motions to move a robotic manipulator’s end effector from where it is at the start of its motion, to where it needs to be at the end of its motion. Actin is a robot control SDK, which includes features like robot modelling, kinematics, tasking, and path planning. In this post, we will discuss two categories of robot arm path planning that Actin supports, and why a roboticist might choose one over another.

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