BarretArm-Maze.world File Reference

Detailed Description

The Barret arm holding a stick to solve a maze problem. In this case the orientation of the end effector can change.

Note that in this example we do not take into account the joint limits. They can be activated, though, uncommenting the corresponding lines.

The key data for this problem are:

Ambient space dimension 10
Configuration space dimension 4
Average planning time with bin/cuikatlasrrt (in seconds) 30

This example is treated following this steps (from the main CuikSuite folder):

  • Solve the path planning problem: Execute
  • An alternative way to plan: Note that different path planning algorithms use different parameter settins. Just uncomment the right lines in the parameter file. In particular, deactivate the bifurcation detection (set DETECT_BIFURCATIONS to 0) and execute:
  • An alternative ways to plan existing in the literature:
  • Visualize the path: Whatever the procedure used to plan
  • To smooth an output path:
  • Visualize the smoothed path:

Definition in file BarretArm-Maze.world.