Rotational.world File Reference Detailed DescriptionA highly contrained parallel platform so that it only has rotational degrees of freedom. We took this example form Juan Cortés as a test for our path planner. We used this example in our IJRR-12 paper. The key data for this problem are:
Note that these figures correspond to a redundant formulation of the problem. A non-redundant formulation produces lower dimensional ambient and configuration spaces, but this does not necessarily result in lower execution times. Moreover, we only consider collisions between the moved peg and the obstacles (in blue), but not self-collisions of the parellel mechanisms (leg crossing might occur in some cases). This example is treated following these steps (from the main CuikSuite folder):
Definition in file Rotational.world. |
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