Example 1

In this example, the robot arm starts at its home position and moves its gripper to the inside of the leftmost open box.


Image 1: The robot at its home position.


Image 2: The robot part way along in its journey.


Image 3: The robot reaches its goal.


Graph 1: Joint angles graphed vs. Time. These are the raw angles generated by the planner.


Graph 2: Joint angles graphed vs. Time. This is the same data as in the previous graph, but we have first run it through a simple smoothing algorithm.


Graph 3: Average solution length vs. Partition size.

A parallel planning routine is used to find paths. As the number of parallel processors increases, the average solution length decreases. In general, the shorter the solution, the better.


Home | Links | FlightGear | Models

Last modified: 11/19/2003
Curtis L. Olson