C++ code of UR5 trajectory path planning algorithm
This search path algorithm takes into account all of the constraints set in the UR-5's workspace to come up with a possible configuration pathways to move into a desired configuration set. It is useful for applications such as car manufacturing process such as using robotic arms to move car seats inside the chassis at a certain specific angle with precision.
It uses breadth-first search algorithm to achieve the desired result.
This is used with ROS RVIZ in order to run.