Integrating MOVEit Motion Constraints on a Novel Robotic Manipulator
Abstract
MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulators mechanics, typically Universal Robot Description Format and Semantic Robot Description Format files, is required. Common arms such as the Panda-Manipulator and OpenMANIPULATOR-X provide these files in their respective public repositories, but custom arms require significant modification or even a complete rewrite of these files.
Document Details
- Document Type
- Technical Report
- Publication Date
- Nov 01, 2023
- Accession Number
- AD1214527
Entities
People
- Anton D. Netchaev
- Benjamin Christie
- Garry P. Glaspell
- Jordan D. Klein
Organizations
- Engineer Research and Development Center