Motion Planning Library for Robotic Application

Behnam Asadi

DFKI GmbH DFKI Documents (D) 14-03 14-03 ISBN ISSN 0946-0098 Selbstverlag, Bremen 6/2014.


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.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence