A.The project consists on the deployment of a simulator for the simulation of the robot motion, according to a static working environment; B.The technical goal is to provide the optimum trajectory to move from one point to a second point in the workspace avoiding the obstacles. Specifically: oThe starting and ending point is described in the joint-space of the robot. oThe optimality has been intended as a local-optimum in term of execution time and computational time. oThe only constraints besides the physical obstacles are the joint-axes end-strokes oThe motion planner must avoid any self-collision of the links, i.e., it should integrate the full kinematics structure of the robot
Project C1: Optimized Path (waypoint generator)
Nicola Pedrocchi;Manuel Beschi;Marco Faroni
2019
Abstract
A.The project consists on the deployment of a simulator for the simulation of the robot motion, according to a static working environment; B.The technical goal is to provide the optimum trajectory to move from one point to a second point in the workspace avoiding the obstacles. Specifically: oThe starting and ending point is described in the joint-space of the robot. oThe optimality has been intended as a local-optimum in term of execution time and computational time. oThe only constraints besides the physical obstacles are the joint-axes end-strokes oThe motion planner must avoid any self-collision of the links, i.e., it should integrate the full kinematics structure of the robot| File | Dimensione | Formato | |
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