Publication
Motion Planning Library for Robotic Application
Behnam Asadi
DFKI GmbH, DFKI Documents (D), Vol. 14-03 , No. 14-03, ISBN ISSN 0946-0098, Selbstverlag, Bremen, 6/2014.
Abstract
A stand alone library for motion planning task, based on sample based motion planners, implemented in
C++. Functionalities of the library:
• Computing analytical and numerical solutions for forward and inverse kinematics queries.
• Hierarchical Brute-force search for the robots with more than 6 DOF for minimum movement.
• Self collision and environment collision checker.
• Replanning for dynamic environment.
• Dual Arm manipulation.