abb_planning.world File Reference

Detailed Description

A simple example of how to solve a path planning problem with the models imported from the ROSIndustrial repository.

In this simple example the robot has to move a bar (without rotating it) and insert it in a hole.

You can solve the planning system executing:

This is a simple problem and, thus it is solved quite fast (less than 0.1 seconds). The solution path can be visualized executing:

The raw path is probably jerky. You can optimize this path executing

The smoothed path can be visualized executing

If you want to define you own start and goal configurations for planning you can proceed as follows. First, you can generate several valid configurations for the robot-and-bar system executing:

The generated configurations can be visualized as

Just pick one configuration that is close to you desired start/goal configuration copy it in the first line of the examples/ROSIndustrial/abb_planning.joints file and adjust the configuration using

In this case it is intuitive to manipulate the robot-bar system using the prismatic joints. You can store the configuration with the SAFE button.

The start and goal configurations for the planning have to be stored in the examples/ROSIndustrial/abb_planning.joints file.

Note that in this example we import the ABB 6640 robot, but any other robot can be used instead. In this case, however, you have to adequately scale and move the box with the hole and the manipulated bar. Nothing has to be changed in the planning algorihtms since they are completely general and this generality is achieved without a lose in efficiency. This is the main advantage of the CuikSuite tools.

Definition in file abb_planning.world.