What are the best programs-frameworks for path planning and kinematic simulation of a custom robotic arm

This page summarizes the projects mentioned and recommended in the original post on /r/robotics
Robotics Python robotics-toolbox robotics-simulation robotics-control

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  • robotics-toolbox-python

    Robotics Toolbox for Python

    • I’d suggest looking in some of the free robotics frameworks out there, particularly Python and Matlab. These would allow you to fully focus on the cartesian planning problem. https://github.com/petercorke/robotics-toolbox-python is one such framework with minimal learning curve.

  • moveit

    :robot: The MoveIt motion planning framework

    • MoveIt provides this through IterativeParabolicTimeParameterization. You can use this implementation as a reference, if you want to have an in depth understanding of how a trajectory is generated.

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NOTE: The number of mentions on this list indicates mentions on common posts plus user suggested alternatives. Hence, a higher number means a more popular project.

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