Motion Planning Library for Robotic Application
Behnam Asadi
In Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control" , 19.6.2014, Selbstverlag, Bremen, series DFKI Documents, volume 14-03 , number 14-03, pages 84-88, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.

Zusammenfassung (Abstract) :

A stand alone library for motion planning task, based on sample based motion planners, implemented in C++. Functionalities of the library: • Computing analytical and numerical solutions for forward and inverse kinematics queries. • Hierarchical Brute-force search for the robots with more than 6 DOF for minimum movement. • Self collision and environment collision checker. • Replanning for dynamic environment. • Dual Arm manipulation.

zuletzt geändert am 27.02.2023
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