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In global motion planning, target space is observable by the robot's sensors. However, in local motion planning, the robot cannot observe the target space in some states. To solve this problem, the robot goes through several virtual target spaces, each of which is located within the observable area (around the robot).
Real-Time Path Planning is a term used in robotics that consists of motion planning methods that can adapt to real time changes in the environment. This includes everything from primitive algorithms that stop a robot when it approaches an obstacle to more complex algorithms that continuously takes in information from the surroundings and creates a plan to avoid obstacles.
The Player Project (formerly Player/Stage Project) creates free and open-source software for research into robotics and sensor systems. [1] Its components include the Player network server and the Stage platform robotics simulators. Although accurate statistics are hard to obtain, Player is one of the most popular open-source robot interfaces ...
A manipulator can move an object with up to 6 degrees of freedom (DoF), determined by 3 translation 3T and 3 rotation 3R coordinates for full 3T3R mobility. However, when a manipulation task requires less than 6 DoF, the use of lower mobility manipulators, with fewer than 6 DoF, may bring advantages in terms of simpler architecture, easier control, faster motion and lower cost. [2]
This type of robotics software has a simulator that is a virtual robot, which can emulate the motion of a physical robot in a real work envelope. Some robotics simulators use a physics engine for more realistic motion generation of the robot. The use of a robotics simulator to develop a robotics control program is highly recommended regardless ...
Forward vs. inverse kinematics. In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain.
The probabilistic roadmap [1] planner is a motion planning algorithm in robotics, which solves the problem of determining a path between a starting configuration of the robot and a goal configuration while avoiding collisions. An example of a probabilistic random map algorithm exploring feasible paths around a number of polygonal obstacles
rviz [69] (Robot Visualization tool) is a three-dimensional visualizer used to visualize robots, the environments they work in, and sensor data. It is a highly configurable tool, with many different types of visualizations and plugins. Unified Robot Description Format is an XML file format for robot model description.