Manipulator Motion Planning Part II

Type of course:

Digital learning, Path

Language:

Duration:

55 minutes

Workload:

6 hours

Proficiency:

Intermediate

Target:

Professionals

This Learning Path will build on Manipulator Motion Planning I and cover some technical concepts. The associated nuggets will cover1. Implementing an Inverse Kinematics Solver from scratch using an off-the-shelf optimization solver called IPOPT and modeling of forward kinematics based on CASADI.
2. Implementating and configuring sampling-based motion planners for manipulators.
3. Exploring different off-the-shelf options for reactive motion planning.This Learning Path contributes to the achievement of the Learning Outcome “Innovation and technology skills and competencies”. in the following manner. Firstly, it will provides hands-on knowledge of the state-of-the-art non-convex optimization solvers that can be used to build high performance inverse kinematics library from scratch. Second, the developed software foundation can be used by the learners to build innovative manipulation software from scratch.

Learning outcomes

At the end of the learning path, the learners can derive the customized implementation of inverse kinematics using CASADI and open-source optimization solvers. The learners can identify different tuning parameters and how it affects the performance of the different algorithms
At the end of the learning path, the Learners can implement/configure sampling-based planners for manipulators.
At the end of the learning path, the learners integrate custom planners/IK solvers with Robot Operating System (ROS) or PyBullet.