LLM Unterstützte High Level Aufgabenplanung zur kollisionsfreien Bewegungsplanung eines Roboter- arms mit MoveIt in einer Simulationsumgebung

A large language model is employed as a high‑level interface that translates natural‑language commands into well‑defined robot actions, which are then executed collision‑free by the ROS 2‑based MoveIt framework in a simulated environment. The approach is demonstrated with a Niryo Ned2 arm performing object detection, pick‑and‑place, and stacking tasks, and its feasibility, limitations, and challenges are evaluated.