Increasing the Degrees of Freedom on a Robot Arm

Abstract

This report provides an implementation of the moveit-commander Python module to generate trajectories for custom six and seven degrees of freedom (DoF) arms. The moveit_setup_assistant package was used to modify an existing five-DoF OpenManipulator-X model to increase its range of motion. Specifically, additional joints were fabricated and mounted to the physical arm. Also, the Unified Robot Description Format files were modified to account for the additional joints. In order to optimize the solvers, many changes to the MOVEit configuration files were made. The changes documented in this report lay the groundwork for leveraging MOVEit to expand the capabilities of low-DoF arms.

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Document Details

Document Type
Technical Report
Publication Date
Nov 08, 2023
Accession Number
AD1214543

Entities

People

  • Benjamin A. Christie
  • Cameron Alred
  • Garry P. Glaspell
  • Michael A. Paquette

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Army
  • Army Corps Of Engineers
  • Collision Avoidance
  • Computer Programs
  • Control Systems
  • Data Science
  • Ecology
  • Engineering
  • Engineers
  • Geometry
  • Inertial Measurement Units
  • Inspection
  • Kinematics
  • Materials
  • Mechanics
  • Motion Planning
  • Point Clouds
  • Simulations
  • Trajectories

Readers

  • Computational Fluid Dynamics (CFD)
  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy