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 recurso: | informe técnico |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/22502 |
| Acceso en línea: | https://hdl.handle.net/2117/22502 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots manipulators robot programming Classificació INSPEC::Automation::Robots::Intelligent robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | 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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