An empirical study of single-query motion planning for grasp execution
Conference Paper
(2017)
Research Group
Robot Dynamics
Copyright
© 2017 Jonathan Meijer, Q. Lei, M. Wisse
DOI related publication
https://doi.org/10.1109/AIM.2017.8014187
To reference this document use:
https://resolver.tudelft.nl/uuid:a340e15e-febc-4444-b761-42a2e9218b3b
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Publication Year
2017
Language
English
Copyright
© 2017 Jonathan Meijer, Q. Lei, M. Wisse
Research Group
Robot Dynamics
Pages (from-to)
1234-1241
ISBN (print)
978-1-5090-6000-9
ISBN (electronic)
978-1-5090-5998-0
Reuse Rights
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Abstract
This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are recommended and the reasons are discussed.