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.