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Robot arm motion planner
Give it a start and goal pose. Get a smooth path and timed moves for the arm.
Robot arm motion planner is a free AI skill for the job "Build and ship software". Give the instructions to an AI assistant that supports the required files and tools, then review its output.
Free · No account · BSD 2 Clause licence · Made by MathWorks · Level: advanced
Made by MathWorks. See the original on GitHub; we copied it as it is, with its licence.
What it does
An arm that moves from pose A to pose B along a path that avoids obstacles, with timing that respects speed and acceleration limits. That is what you finish with, as MATLAB code you can run. It starts by requiring a proper robot model, because planning on a bad model gives false safe paths. You describe the obstacles as a collision world. It then helps you choose a planner: RRT for fast random search, CHOMP for smoother optimised paths. The raw path is shortened, then turned into a timed trajectory, such as time-optimal, constant speed for welding, or trapezoidal. A last check confirms the full trajectory is free of collisions. You need MATLAB with the robotics toolbox.
You give it
- A robot model already set up in MATLAB
- Start and goal poses or joint values
- Obstacle shapes or an environment map (optional)
- Speed and acceleration limits (optional)
You get
- A collision-free path between your poses
- A timed trajectory that respects limits
- Planner choice with reasons
- A collision check of the final motion
Use it when
- You have two arm poses and need a safe path between them.
- A tool must move at constant speed along a seam, like welding or cutting.
- Your workspace has boxes or meshes the arm must not touch.
- You already have waypoints and need them joined into timed moves.
How to use it
- Add it to your AI once: download it and add the folder to Claude, ChatGPT or Codex as a skill.
- Ask for the job in your own words. Your AI opens the skill when it fits.
- It works best when your AI can run MATLAB with Robotics System Toolbox.