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The MoveIt motion planning framework configuration for the IRI WAM robot

Autor
Gonzàlez, A.; Alenyà, G.
Tipus d'activitat
Document cientificotècnic
Data
2013
Codi
IRI-TR-13-03
Repositori
http://hdl.handle.net/2117/22502 Obrir en finestra nova
Resum
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
Citació
Gonzàlez, A.; Alenyà, G. "The MoveIt motion planning framework configuration for the IRI WAM robot". 2013.
Paraules clau
Manipulators, Robot Programming
Grup de recerca
ROBiri - Grup de Robòtica de l'IRI

Participants