The DLR-II robot hand hoding a needle with 3 fingers.
This example was used for path planning.
The difference with respect wafr.world are the obstacles: here we have two small dead-ends that introduces local minima in the planning.
The key data for this problem are:
Ambient space dimension | 22 |
Configuration space dimension | 4 |
Average planning time with bin/cuikatlasrrt (in seconds) | 10 |
This example is treated following this steps (from the main CuikSuite folder):
- Solve the path planning problem For this, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0) and execute:
- An alternative way to plan: Note that different path planning algorithms use different parameter settins. Just uncomment the right lines in the parameter file.
- An alternative ways to plan existing in the literature:
- Visualize the path: Whatever the procedure used to plan
- To smooth an output path:
- Visualize the smoothed path:
Definition in file tro.world.
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