This project is a simulation of RRT path-planning with the KUKA robot arm, developed as a research project at the Laboratory of Intelligent Decisions and Autonomous Robots at Georgia Tech. The end-effector reaches a desired point in Euclidean space by using RRT to calculate a vector of joint angles. The simulation was created using Drake and OMPL.
This is an example of a simulation of the KUKA arm's end effector reaching a desired point in space using RRT.
This demonstrates the KUKA arm's end effector able to reach another desired point in space. Notice that the RRT algorithm is not optimal.