How can I create a collision free path planning for a robotic arm?

Hi,

I have a 4DOF robotic arm (Mico2). Based on the coordinates of a final point (X,Y,Z), I used inverse kinematics and I could drive the robotic arm to grasp the final point. During grasping process, it is possible the robotic arm hits other objects (obstacles). I need to have a collision free path planning algorithm for the robotic arm to reach the final point. I found "Probabilistic Roadmap (PRM) path planner" in MATLAB. It seems PRM works in 2D coordinate syatem. Does MATLAB have any method to do the same task in 3D coordinate system?

I appreciate any help in advance.

Best regards,

Abbas

[Walter Roberson]

https://robotics.stackexchange.com/questions/5111/redundant-arm-path-planning-and-trajectory-following

https://www.researchgate.net/publication/224146402_Modeling_and_Simulation_of_5_DOF_educational_robot_arm