Collision-free path planning for a robotic arm in RoboCup @Home
Kevin D. Read · 2010
The goal of this minor thesis is to integrate a robotic arm into an existing robotics software. A robot built on top of this stack should be able to participate successfully RoboCup @Home league. The robot Lisa (Lisa is a service android) needs to manipulate objects, lifting them from shelves or handing them to people. Up to now, the only possibility to do this was a small gripper attached to the robot platform. A Katana Linux Robot of Swiss manufacturer Neuronics has been added to the robot for this thesis. This arm needs a driver software and path planner, so that the arm can reach its goal object intelligently, avoiding obstacles and creating smooth, natural motions.