Welding2D.world File Reference

Detailed Description

The example of the RAM paper allowing translations and rotation for the end-effector. Note that for this example we use the higher-dimensional continuation and not the branch-and-prune techniques and, thus, we use a standard robotics formulation and not a special one.

This example is treated following these steps (from the main CuikSuite folder):

  • On-line examine the collision-free configuration space: Execute
    • scripts/cuikexplore examples/Welding/Welding2D
    • Select the degrees of freedom you want to control and press the buttons on the left/right to decrease/increase the value for the selected degree of freedom. The inner button just moves one step and the outer one changes the degree of freedom while it is pressed (it is faster). The speed can be adjusted changing the step parameter in the scripts/cuikexplore window. Note that sometimes the selected set of parameters might lead to a singularity blocking the movement of the robot. Change the set of parameters to move out of the singular position.
  • Generate and examine the equations: Execute
  • Isolate the 2D solution set: Execute (this takes about a minute in a Intel Core i7 at 2.93 Ghz running Mac OS X and generates about 30000 boxes)
  • Visualize the the 2D solution set: Execute
    • bin/cuikplot3d examples/Welding/Welding2D 1 10 19 0 Welding2D.gcl
    • geomview Welding2D.gcl
    • Set the material to transparent (geomview menu: Inspect -> Material, set the transparent button, and the alpha value to about 0.1).
  • Generate the atlas: This is an alternative, faster way to isolate the 2D solution set. However, only the part of the set reachable from a given point is obtanied. Execute
    • bin/cuikatlas examples/Welding/Welding2D
    • To obtain different stages in the atlas construction you can simply set different values for the parameter MAX_CHARTS (e.g., 150, 450).
  • Visualize the atlas:
    • bin/cuikplotatlas examples/Welding/Welding2D 0 9 18
    • geomview examples/Welding/Welding2D_atlas.gcl
    • Set the edges to black (geomview menu inspect->appearance) to better appreciate the polygonal charts.
  • Generate the collision-free atlas: We have to avoid collisions between the robot and the beam to weld. By removing the .cuik file, bin/cuikatlas operates directly on the .world file that encodes the collisions to be avoided.
    • rm examples/Welding/Welding2D.cuik
    • bin/cuikatlas examples/Welding/Welding2D
  • Visualize the collision-free atlas:
    • bin/cuikplotatlas examples/Welding/Welding2D 0 9 18
    • geomview examples/Welding/Welding2D_atlas.gcl
    • The red charts are the frontier with the collision areas.

Jump to the previous example: determine the workspace boundary.

Jump to the next example: a path planning case.

Definition in file Welding2D.world.