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Title: Integrating MOVEit motion constraints on a novel robotic manipulator
Authors: Christie, Benjamin A.
Klein, Jordan D.
Netchaev, Anton D.
Glaspell, Garry P.
Keywords: Computer programs--Evaluation
Hydraulic structures--Inspection
Robots--Control systems
Publisher: Engineer Research and Development Center (U.S.)
Series/Report no.: Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC TR-23-23
Abstract: MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulator’s mechanics, typically Universal Robot Description Format and Semantic Robot Description Format files, is required. Common arms such as the Panda-Manipulator and OpenMANIPULATOR-X provide these files in their respective public repositories, but custom arms require significant modification or even a complete rewrite of these files.
Description: Technical Report
Gov't Doc #: ERDC TR-23-23
Rights: Approved for Public Release; Distribution is Unlimited
Appears in Collections:Technical Report

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