Planning planning for industrial robots

  • I am working on a pick and place project using Fanuc 6 DOF arm. The robot should use a vision system to localize objects. I am using a problistic planning library (OMPL with, move it framework) to compute the trajectory.

    Due to performance issues I would like to switch to a deterministic planning algorithm.

    Is there any implemented libraries or algorithms to compute the robot trajectory (with the minimum joint trajectory).

    Thank you in advance for your reply.

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