Publication

The MoveIt motion planning framework Configuration for the IRI WAM robot

Technical Report (2013)

IRI code

IRI-TR-13-03

File

Download the digital copy of the doc pdf document

Abstract

Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoidance 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

Categories

manipulators, robot programming.

Scientific reference

A. Gonzalez and G. Alenyà. The MoveIt motion planning framework Configuration for the IRI WAM robot. Technical Report IRI-TR-13-03, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2013.