Example 2

This example is a continuation of the previous example. The robot arm starts at the ending position of the previous example (reaching into the leftmost box.) It moves its gripper into the rightmost box.


Image 1: The robot starts in the opening of the leftmost box.


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


Image 3: The robot reaches its goal in the rightmost box.


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.


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