Motion Planning Integration on ABB Robot Manipulator for Robot Welding

<p>Integration of Motion Planning based on Moveit Robot Operating System (ROS) on ABB Robot Manipulator for Robot Welding. Stochastic Trajectory Optimization for Motion Planning (STOMP) and Rapidly exploring Random Tree Star (RRT*) are used in this implementation. STOMP is used as primary path planner as it has less computation time whereas RRT* is used as failsafe if STOMP fails to compute a plan.</p>