Título:
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The Kautham Project: A teaching and research tool for robot motion planning
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Autor/a:
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Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor
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Otros autores:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
Abstract:
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This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used
and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems. |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Mobile robots -- Design and construction -Robotics -Motion planning -Simulation -Robots mòbils -- Disseny i construcció |
Derechos:
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Tipo de documento:
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Artículo - Versión publicada Objeto de conferencia |
Editor:
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Institute of Electrical and Electronics Engineers (IEEE)
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