机器人路径实验：基于仿真与XML定义无碰撞轨迹设计.pdfVIP

TUBerlinRoboticsWS2012/2013

LabAssignment#5

PleaseuploadyoursolutionbyFebruary5,2013at23:59,usingyourISISaccount.Rememberthat

thisisaharddeadline,extensionsimpossible!

Inthislastassignmentwewanttonacollision-freepaththePUMAneedstotaketoenter

aholeinawallwithitsnewgibend-effector.Wewillprovideyouwithperfectmodelsof

theworldandthePUMArobot,sonearlyalloftheworkwillbedoneinsimulation.Finally,only

thecomputedtrajectorywillbeexecutedontherealrobot.Youwillbesupportedbythe

RoboticsLibrary,whichcanbefoundat

.

RobLib

TheRoboticsLibrary(RobLib)isanopensourcesoft-

warethatincludesmathematics,kinematics,dynamics,

hardwareion,visualization,collisiondetection,

motionnning,andmore.Anningproblemiscom-

pletelydefinedviaanXMLfile.Thisincludesamodelof

theenvironment(awallwithasquare15cmhole),a

modelofthearticulatedmechanism(thePUMArobot),

thestart(nullposition)andgoalconfiguration(theend-

effectorinsidethehole),andthenningalgorithmto

beused(plusparametersifneeded).

Togetstarted,followtheinstallationinstructions(see

slidesfromthe“Großübung”)andrunanexample:

cdfolderwhereyouinstalledroblib/rl−0.6/examp/tutorialPlan

./tutorialPlan

Theexamplerunsanner,visualizesthesearchtree

andtheresultingpathof/rl-0.6/examp/tutorialn/Yournner.cpp.

nning

InthisassignmentwefocusonafamilyofmotionnningtechniquescalledRapidly-Exploring

RandomTrees(RRT,