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The Kautham Project: A teaching and research tool for robot motion planning

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Rosell, Jan
Akbari, Aliakbar
Palomo-Avellaneda, Leopold
García, Néstor
Pérez Ruiz, Alexander
Abstract (Spanish)
En este trabajo se presenta la herramienta software utilizada en el Instituto de Ingeniería Industrial y de Control (IOC-UPC) para la docencia e investigación en planificación de movimiento de robots. La herramienta permite afrontar problemas con uno o más robots, siendo un robot genérico definido como un árbol cinemático con una base móvil, es decir, la herramienta puede planificar y simular desde simples robots de dos grados de libertad en vuelo libre hasta escenarios multi-robot con manipuladores móviles equipados con manos antropomórficas. El núcleo principal de planificadores lo proporciona la Open Motion Planning Library (OMPL). Los diferentes planificadores básicos pueden utilizarse y parametrizarse de forma flexible, lo que permite a los estudiantes conocer los diferentes algoritmos de planificación. Entre las funciones avanzadas, la herramienta permite definir fácilmente el acoplamiento entre grados de libertad, la simulación dinámica y la integración con planificadores de tareas. Se utiliza principalmente en la investigación de estrategias de planificación de movimientos para sistemas robóticos mano-brazo.
Abstract (English)
This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degrees of freedom free-flying robots to multi-robot scenarios with mobile manipulators equipped with anthropomorphic hands. The main core of planners is provided by the Open Motion Planning Library (OMPL). Different basic planners can be flexibly used and parameterized, allowing students to gain insight into the different planning algorithms. Among the advanced features the tool allows to easily define the coupling between degrees of freedom, the dynamic simulation and the integration with task planers. It is principally being used in the research of motion planning strategies for hand-arm robotic systems.
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8 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/2307
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