Motion Planning for Manipulators
Behnam Asadi, Sankaranarayanan Natarajan
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 120-121, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.
On this poster, two libraries for motion planning for manipulator is introduced(MoveIt!, MotionPlanner Library). MoveIt! is state of the art motion planner framework for mobile manipulation applications. A framework independent motionplanning library is developed using sample-based motionplanning algorithm.
This library also supports dual arm manipulation and replanning for dynamic environment.