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Planning of collision free and feasible robot motions
Monday, 12 August 2024
Info updated 11.08.2024
Lecturers & Schedule
Henrik Gordon Petersen (HP)
Aljaz Kramberger (AK)
Kasper Støy (KS)
08:30 – Welcome and Organizational matters (HP)
08:45 – 10:15 Lecture 1: Basic planning and trajectory concepts (HP)
Cartesian space and configuration space
Parametrizations of these spaces
Mapping between spaces
Linear interpolation with parabolic blends
Estimating cycle time costs
Why plan and interpolate in configuration space
10:30 – 12:00 Lecture 2: Trajectory planning for Robot Manipulators and Grasping (AK)
Interpolation for trajectories represented in Cartesian space
Cubic polynomial interpolation
Robotic grasping
Definine trajectories by Learning
12:00 – Lunch break
13:00 – 14:00 Lecture 3: Finding collision free paths (HP)
Point to point planning
Distance metric
Resolution property
Grid based and random points based sampling
Sample based planning methods in a nutshell
Collision testing and distance computations
Finding shortest paths in graphs
Example of a planning method
14:15 – 15:45 Lecture 4: Behavior based robotics for easy programming (KS)
15:45 – Coffee break