Rotational2.world File Reference

Detailed Description

A highly contrained parallel platform so that it only has rotational degrees of freedom.

The difference with respect to Rotational.world is that here the obstacle is more complex and the peg is thicker. Both aspects clearly complicate the problem (the two configurations to connect are separated by a narrower corridor).

The key data for this problem are:

Ambient space dimension 27
Configuration space dimension 3
Average planning time with bin/cuikatlasGBF (in seconds) 0.8

Note that these figures correspond to a redundant formulation of the problem. A non-redundant formulation produces lower dimensional ambient and configuration spaces, but this does not necessarily result in lower execution times. Moreover, we only consider collisions between the moved peg and the obstacles (in blue), but not self-collisions of the parellel mechanisms (leg crossing might occur in some cases).

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

  • Adjust the parameters: Different algorithms use different parameter settings. Just check the parameter file (Rotational.param) and uncomment the appropriate lines.
  • Solve the path planning problem: using the graph-based search
  • Solve the path planning problem: using a RRT-like algorithm
  • Solving with pre-existing methods: Both methods are RRT-based
  • Visualize the solution path:
    • scripts/cuikplayer examples/ParallelPlatform/Rotational2 examples/ParallelPlatform/Rotational2_path
  • Smooth the path:
  • Visualize the smoothed path:
    • scripts/cuikplayer examples/ParallelPlatform/Rotational2 examples/ParallelPlatform/Rotational2_spath

Definition in file Rotational2.world.