06_ Example Explanation: Rlplandemo

Example Program for Planner:

"E:\Program files (x86) \rl-0.6.2\bin\rlplandemo.exe" "E:\Program files (x86) \rl-0.6.2\share\rl\examples\rlplan\ Unimation-puma560_boxes_rrtconcon.xml "

Denavit–hartenberg

RL uses DH to build the robot model: Denavit and Hartenberg in 1955, a general method was proposed, which fixed a coordinate system on each connecting rod of a robot, and then described the spatial relationship of the adjacent two connecting rods with a 4x4 homogeneous transformation matrix. In order to establish the kinematics equation of the robot, the position and posture of the end actuator relative to the base coordinate system can be deduced by sequential transformation.

The Examples\rlkin directory below is the storage of the robot based on the DH method.

For the path planning of robot, motion algorithm and scene collision object are necessary.

Keys:

F4: The starting position of the robot can be automatically random (configuration->random)

CTRL+F1: Set the current position as the starting point (planner->set start)

CTRL+F2: Set the current position as the target point (Planner->set Goal)

Space: Automatically start looking for a collision-free path

We can set the starting point, end point, and then he can automatically plan the path.

This example is used to: /rlkin/unimation-puma560.xml kinematics Model (robot).

You can modify the parameters of the model, such as the maximum and minimum values of the joint, so that the planned path will definitely be different or even impossible to plan.

06_ Example Explanation: Rlplandemo