2R-Plana-Robot-Motion-Planning-using-PRM

This project implements an interactive visualization system for planar 2R robotic arm motion planning. The system allows users to select target positions through mouse clicks, and automatically generates collision-free trajectories using the Probabilistic Roadmap Method (PRM) algorithm.

Animation result:

Setting Up Execute Environment

Suggest to use Anaconda/miniconda.

# if use the env in conda(optional)
conda create -n mp python=3.9
conda activate mp

# install the program's dependency
pip install -e . -i https://pypi.tuna.tsinghua.edu.cn/simple

After you finish the above set step, execute

python main.py

Then the program will run. Click on the right for automatic path planning

Search results: