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Planning robot motions. Behavior based robotics

Monday, 7 August 2023

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: Point-to-point planning in configuration space (HP)

Cartesian space and configuration space, collision free subsets
PTP planning definition
Resolution property
A point-to-point planning example

10:30 – 12.00 Lecture 2: Trajectory generation between points (AK)

Linear interpolation with parabolic blends
Cubic Interpolation and Bezier curves
Quaternions and rotation interpolation
Methods based on differential equations

12:00 – Lunch break 

13:00 – 14.00 Lecture 3: Optimization of collision free paths (HP)

Collision testing and distance computations
Tool configuration constraints
Estimating cycle time costs
Optimization of found solution

14:15 – 15.45 Lecture 4: Behavior based robotics for easy programming (KS)

15:45 – Coffee break 

16:00 – 17.30 Exercise on planning and programming

17:30 – End of the day