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.