Systems and methods for control of robotic manipulation

A method for controlling a robot system, the method comprising:

• acquiring, with a visual acquisition unit, environmental information corresponding to at least one of an arm or a target to which the arm is configured to he moved toward;
• generating, with at least one processor, an environmental model using the environmental information;
• selecting, from a plurality of planning schemes, at least one planning scheme based on the environmental model generated using the environmental information to translate the arm toward the target, wherein planning scheme is defined by at least one of path shape or path type, and wherein the at least one planning scheme selected from the plurality of planning schemes is selected to provide movement of the articulable arm within at least one of a desired time frame or at a desired speed based on the environmental model generated using the environmental information;
• planning movement of the arm toward the target using the selected at least one planning scheme;
• and
• moving the arm toward the target using that at least one selected planning scheme.

A tangible and non-transitory computer readable medium comprising one or more computer software modules configured to direct one or more processors to:

• acquire, with a visual acquisition unit, environmental information corresponding to at least one of an arm or a target to whiCh the arm is configured to be moved toward;
• generate, with at least one processor, an environmental model using the environmental information;
• select, from a plurality of planning schemes, at least one planning scheme based on the environmental model generated using the environmental information to translate the arm toward the target wherein each planning scheme is defined by at least one of path shape or path type, and wherein the at least one planning scheme selected from the plurality of planning schemes is selected to provide movement of the articulable arm within at least one of a desired time frame or at a desired speed based on the environmental model generated using the environmental information;
• plan movement of the area toward the target using the selected at least one planning scheme;
• and
• move the arm toward the target using that at least one selected planning scheme.