A Generic Framework for Robot Motion Planning and Control
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
This thesis deals with the general problem of robot motion planning and control. It proposes the hypothesis that it should bepossible to create a generic software framework capable of dealing with all robot motion planning and control problems, independent of the robot being used, the task being solved, the workspace obstacles or the algorithms employed. The thesis work then consisted of identifying the requirements and creating a design and implementation of such a framework. This report motivates and documents the entire process. The framework developed was tested on two different robot arms under varying conditions. The testing method and results are also presented.The thesis concludes that the proposed hypothesis is indeed valid.
Place, publisher, year, edition, pages
2010. , 68 p.
path planning, motion control, software framework, trajectory generation, path constrained motion, obstacle avoidance
IdentifiersURN: urn:nbn:se:kth:diva-104806ISRN: KTH/CSC/E--10/014--SEOAI: oai:DiVA.org:kth-104806DiVA: diva2:567447
Master of Science - Systems, Control and Robotics
Jensfelt, Patric, Associate Professor
Kragic, Danica, Professor