Performance study of single-query motion planning for grasp execution using various manipulators

Conference paper (2017)

Authors

Q. Lei Robot Dynamics - Mechanical, Maritime and Materials Engineering
M. Wisse Robot Dynamics - Mechanical, Maritime and Materials Engineering
Research Group
Robot Dynamics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Jonathan Meijer, Q. Lei, M. Wisse
Measurements Planning Grippers Libraries Manipulators Bidirectional control
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Published Date

2017

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Robot Dynamics

Abstract

This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.