# Motion plan

A motion plan is a set of instructions that tells a machine how to move in order to achieve a specific goal. The motion plan is created by taking into account the machine's capabilities and limitations, the environment in which it will be operating, and the desired outcome of the motion.

What is the difference between motion planning and path planning? Motion planning and path planning are two different types of algorithms used for robotics and automated systems. Motion planning algorithms are used to calculate the best way to move an object from one location to another, while path planning algorithms are used to calculate the best way to move an object along a given path.

What is online motion planning? Motion planning is the process of finding a path from one point to another while avoiding obstacles. This can be done offline, by pre-computing a path through a given environment, or online, by computing a path in real-time as the environment changes. Online motion planning is often used in robotics, where the robot needs to avoid obstacles and find its way to a goal in a dynamic environment.

What is the main reason of doing motion planner in robotics? The main reason for doing motion planning in robotics is to generate a collision-free path for the robot to follow. This is important because collisions can damage the robot or the objects it is interact with. By planning a safe path in advance, the robot can avoid obstacles and safely reach its goal.

##### How do you do motion planning?

There are many ways to do motion planning, but one common approach is to use a robotic arm.

1. The first step is to determine the desired path of the arm. This can be done by manually inputting the desired positions of the arm, or by using a computer program to generate the path.

2. The next step is to determine the arm's current position and orientation. This can be done by manually measuring the arm, or by using sensors attached to the arm.

3. The next step is to calculate the necessary joint angles for the arm to follow the desired path. This can be done using inverse kinematics, or by using a motion planning algorithm.

4. The next step is to move the arm to the first position in the desired path. This can be done manually, or by using a motor attached to the arm.

5. The final step is to repeat step 4 until the arm reaches the end of the desired path.

##### What is the difference between motion planning and control?

Control is the process of manipulating a system to follow a desired reference trajectory. In contrast, motion planning is the process of finding a feasible trajectory for the system to follow.

There are two main differences between motion planning and control. First, motion planning is a global problem, while control is a local problem. Second, motion planning is typically offline while control is online.

Motion planning is a global problem because it must find a feasible trajectory for the system to follow, while control only needs to manipulate the system to follow a desired reference trajectory. This means that motion planning must take into account the system's constraints and the environment, while control only needs to consider the system.

Motion planning is typically offline because it can be pre-computed, while control must be computed in real-time. This is because control needs to react to the system's current state, while motion planning only needs to consider the system's initial state.