TwoRX60.world File Reference

Detailed Description

Here we have two Rx60 robots (see Serial6RRX60.world) cooperating to move an object. These two robots are arranged in the same way as we have them in our laboratory.

This problem is trivial when using a JOINT representation (see the parameter REPRESENTATION) and significantly more difficult with a LINKS one.

The key data for this problem are:

Ambient space dimension 12
Configuration space dimension 6
Average planning time with bin/cuikatlasrrt using a DOF-based representation (in seconds) 0.02

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

  • Adjust the parameters: Different algorithms use different parameter settings. Just check the parameter file (TwoRX60.param) and comment/uncomment the appropriate lines.
  • Solve the path planning problem: using a RRT-like algorithm
  • Visualize the solution path:

Definition in file TwoRX60.world.