The fine motion planner computes a sequence of moves such that the partially bent-up part can be successfully unloaded from the bending machine, while satisfying the following conditions:
- The part should not collide with any part of the tool during the entire sequence of moves.
- The robot should stay within its kinematic limits during the execution of the fine motion plan.
- The planner should generate a detailed sequence of robot moves which can be executed by the robot.
- The fine motion computation time needs to be really low, since fine motion feasibility is tested whenever any node is expanded during the bend sequence search process.