The MoveIt motion planning framework configuration for the IRI WAM robot
Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the target of the robot arm with joint state and add collision objects programatical...
| Autores: | , |
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| Tipo de documento: | relatório científico |
| Data de publicação: | 2013 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositório: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglês |
| OAI Identifier: | oai:upcommons.upc.edu:2117/22502 |
| Acesso em linha: | https://hdl.handle.net/2117/22502 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Robots manipulators robot programming Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the target of the robot arm with joint state and add collision objects programatically, without using the graphical interface. Supporting page with videos: http://www.iri.upc.edu/groups/perception/MoveItForIRIWam |
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