How to use ikpy together with any other path planning algorithm to achieve obstacles avoidance?

[johnlim00]

Currently working on a project of simulating autonomous robotic arms. I wonder is it possible to do it by using ikpy in my obstacles avoidance algorithm. Im able to use ikpy to move my ur5e robotic arms to the target object, but i wanted to make the arms automatically avoid any obstacles (if there's any) and reach the target object. Still stucked at the obstacles avoidance part, is there any tips or solution for this?

[gurselturkeri]

Hi, how did you do set goal and arms moving to goal? Also for obstacles avoidance maybe you can use lidar sensor.

[Phylliade]

Hello @johnlim00 !

IKPy's general philosophy is to be a low-level ik library, that can be used in higher levels trajectory/path planning algorithms, so your point makes sense!

The general approach is to cut your trajectory into multiple keypoints, in order to avoid the obstacles, and then use IKPy do the IK for you between the different keypoints

See more info here:
#129