Single and Dual Arm Manipulator Motion Planning Library
نویسنده
چکیده
In this work a library for solving manipulator motion planning problems has been developed and an algorithm for imposing Cartesian constraints in single arm and dual arm operation has been proposed. The main algorithm is based on RRT [1]. The code has been tested with several single arm and dual arm robots. Our method is able to find collision free paths in environments occupied with obstacles. An example of such an environment is the shelf from the Amazon picking challenge. The implemented code also enabled us to perform complicated dual arm operations such as rotating a hand wheel or opening a drawer.
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