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This project is ongoing work being carried out by myself, Dan Challou, and Maria Gini. We are developing practical techniques for doing fast motion planning for articulated robots. I have been working on updating a graphical simulation to represents a Robotics Research K-1207i arm. I have also updated the motion planner with the kinematics for the K-1207i. Lately I have been working on taking paths generated by the planner, and running them on the actual robot located in ME 51.

About this project

Overview of this project.

Sample images of the robot simulation.

MPEG Movie of a sample path. (452k)

Miscellaneous project notes.

Examples

• Example1 -- Moving from the home position into an open box.
  
• Example2 -- Moving from one open box to another.

Source Code

• Most current snapshot of planner, visualizer, and associated scripts and utilities.

Other related sites

• Automated Robot Guidance -- Army High Performance Computing Research Center. This is an example of the work on which my project is based.
• Constrained Obstacle Detection and Avoidance -- This is a previous robotics related project I worked on.
• Robotics Research Group at University of Texas, Austin.