- Kinova-gen3 - obstacle avoidance + Kinova-gen3
+ Obstacle Avoidance Example:
The robot starts from blue configuration and targets at the green configuration. The obstacles are shown in red. The waypoints generated by RRT are shown in black. - We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint. + We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint.
The formulation of the optimization problem is a discrete version of our previous work ARMOUR, where constraints are only considered on discrete time samples, rather than continuous time intervals to guarantee safety.
The robot starts from blue configuration and targets at the green configuration. The obstacles are shown in red. The waypoints generated by RRT are shown in black. - We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint. + We solve an optimization problem at each iteration to generate a smooth trajectory that avoids the obstacles while getting to the next waypoint.
The formulation of the optimization problem is a discrete version of our previous work ARMOUR, where constraints are only considered on discrete time samples, rather than continuous time intervals to guarantee safety.
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+ Inverse Kinematics Example:
+ Solving a series of inverse kinematics in seconds! +
+ + Solving a series of inverse kinematics in seconds! +
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