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Questions tagged [motion-planning]

Motion planning (also known as the navigation problem or the piano mover's problem) is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.

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278 views

GPS + IMU data and kinematics equations

I have the following data Longitudinal acceleration, $a_x^{IMU}$ Lateral acceleration, $a_y^{IMU}$ Vertical acceleration, $a_z^{IMU}$ Yaw angle, $\psi$ Yaw rate, $\dot{\psi}$ Latitude, $\rightarrow ...
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1 answer
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Bias Omni Navigation Towards Forward Movement

I am working on an omnidirectional robot using ROS2 and NAV2 BT navigator stack. I have managed to get the lattice planner working and have full omni directional movement. I was wondering if there was ...
2 votes
2 answers
449 views

Tool calibration- orientation

I'm currently working calibrating a robot's tool. I have found some simple methods to get the tool centre point. But I'm unsure about how to get the tool's orientation relative to the robot's tip (the ...
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1 answer
25 views

Persistent "Goal State is in Collision" Error Despite Disabling Collisions

I am working with the MoveIt Task Constructor to set up a robotic task sequence and am encountering a persistent collision detection issue despite explicitly disabling collisions for certain links. I ...
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1 answer
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Collision Update on a Manipulator Links

I am trying to apply a pick-and-place operation with the Fanuc 6 DOF robot. I am using Moveit2 to give motion planning commands to robot. It sometimes gets into limit error during the execution of ...
4 votes
1 answer
351 views

Motion planning with Gaussian Process Regression

I was recently introduced to Gaussian Process Regression (GPR). I read multiple papers regarding use cases of GPR in robotics, however, they were more or less very limited. Use case from the ...
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1 answer
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ROS: Execute action for every waypoint along moveit path

A robot should move along waypoints and operate on a state in parallel, say print a state for every waypoint. Given: ...
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1 answer
94 views

To demonstrate motion planning of a Husky robot through dynamic environments using Gazebo, how can I introduce moving characters in Gazebo?

I am working on the ClearPath Husky ROS Navigation stack and am trying to demonstrate the motion of Husky through an environment with dynamic obstacles in Gazebo. I see that mostly such a ...
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Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
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How to plan CIRC motions with Pilz Industrial Motion Planner using arbitrary reference coordinate systems?

Tl;dr: I want to rotate the link at the end of the planning group around the X-axis of the center point in clockwise direction by theta degrees. How would I do that? I want to plan industrial motions (...
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1 answer
92 views

For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
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1 answer
164 views

Turning a mecanum wheeled robot at a specific angle i.e 45 degree

I am implementing inverse kinematics for motion control of a robot with four mecanum wheels. However I am not getting how to turn it at specific heading angle(45 degree)? I am using encoders to check ...
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Moveit constraint to look at a point

Using Moveit under ROS2 (humble), I am trying to have a robot manipulator point the end-effector (technically a camera attached to it) at a point in space. With the different options for constrained ...
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3 answers
117 views

Motion planning for non-serial chain robotic arms

I am trying to do position motion planning with inverse kinematics for the MeArm model. I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I ...
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1 answer
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Why is the C- Space topology for a 2R robot a torus?

Currently doing a course on robotics - skip to 1:12 in the video below where Kevin Lynch describes the C-Space topology of a 2R robot to be a torus. Why did he rotate the circle for joint 1 to be ...
1 vote
1 answer
57 views

Rigorous terminology clarification - Path Planning, Path Following, Trajectory Planning, Trajectory Following and Motion Planning

I am asking this after having gone through quite a bit of literature and hope that it's not a repeat question. I would like to know proper mathematical notion that clearly defines a Path and a ...
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2 answers
133 views

Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
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Creating a new planner in OMPL using Python

I am using OMPL in order to create a new planner using OMPL. The documentation gives only a short description of how to do so: ...
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1 answer
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IK numerical vs analytical solutions and singularities

Currently I'm using the Robotics-Toolbox python library by Peter Corke to perform inverse kinematics calculations for a 6 DOF (non-spherical wrist) robot arm. I'm using the robotics-toolbox ctraj ...
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160 views

moveit2 not planning: Unable to sample any valid states for goal tree

I am relatively new to ros and moveit. I am working in humble on an m1 mac but using a vm to run ubuntu jammy. I've followed the moveit tutorials and successfully got the panda arm moving to a ...
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45 views

Unreachable Velocity in Jerk Limited Trajectory

I've recently been developing a jerk limited trajectory algorithm. I've gone through all the analytical solutions for every profile to find the time optimal solution, and then quantized to the nearest ...
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Real robot ur5 is not moving with moveit

I am connected to a UR5 over the network, working on ROS2 humble, on Ubuntu 22.04 I set up the right host IP on the robot and robot’s IP in the launch file I installed the external control urcap. I ...
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1 answer
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Pose matrices and robotics 2D movement

I have a robot starting from the origin. It first turns 90 degrees (yaw), then move to (5,10), then it starts to move along its own negative x direction at each step with a translation of 1. Here is ...
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Cartesian Planning Issue

I recently performed camera and robot-robot calibration and, I wanted to validate the results with the touch test method. So I retrieved a particular point on the ChArUco board and wrote a node that ...
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Example for using ROS2 Moveit2's asyncExecute()

I would like to use the asyncExecute() function offered by Moveit2 CPP API (ROS2 Humble), and then monitor the status of execution. I searched for a bit and only ...
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What is the preferred approach to derive the kinematics/dynamics of a floating base 3-link robot?

I would like to derive the kinematics and dynamics of a floating planar robot with two leg links and a hip link while the robot is in free-fall (i.e. no ground contact at the "feet"). This ...
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Workaround for error in RVIZ with a position only robot arm

I am receiving an error in RVIZ when I tell the moveit planner to plan a path for my robot arm to a new random position. The error is related to velocity limits. My robot arm implements a position ...
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Can I avoid leaking memory when calling `plan_sequence_path`?

Context: I am planning motions for a six-axis robot arm moving a tool along a toolpath. I am working in ROS1 Noetic, calling Pilz Industrial Motion Planner's PTP planner through MoveIt's ...
1 vote
2 answers
103 views

End effector velocity control of a 6-DOF robotic manipulator using MPC

I've been trying to utilize Model Predictive Control (MPC) scheme that I have for end-effector position reference $x(t)$ tracking control to build end-effector velocity reference $\dot{x}(t)$ tracking....
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Post-Processing and Execution of Paths from Sampling-Based Planning: Refinement, Shortcutting, and Real-World Dynamics

I've been diving into sampling-based approaches for path planning, such as RRT (Rapidly-exploring Random Trees) and PRM (Probabilistic Roadmaps), along with their extensions. While I understand the ...
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Create path constraints and dump as a .sqlite file in MoveIt

I am trying to define path constraints in the "MotionPlanning" window on Moveit using RViz in ROS Iron. Using panda_test_db.sqlite, I connected to the database successfully. I could see the ...
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1 answer
55 views

Trajectory waypoints are not exactly the same as joint positions. How to find the closest waypoint?

I'm trying to implement a function to pause the execution of a trajectory, and then re-plan a trajectory following the remaining path. The framework I'm using is moveit noetic. ...
1 vote
2 answers
69 views

How to approach a target pose via the XY surface normal?

I'm trying to make my panda approach an aruco marker target on the table. However, I also want as a constraint that it does so perpendicular to the target. Given that a pose has an orientation ...
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1 answer
63 views

Theoretical foundation of the moveit_msgs::Constraints constructGoalConstraints function

I'm new to MoveIt and motion planning. I’m curious about the implementation of constructGoalConstraints function and check its source code ...
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1 answer
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How to activate the planning with obstacles after publishing the planning scene moveit message

I'm following the tutorial of MoveIt to add obstacles to the scene. Everything goes well and I can see obstacles in Rviz. However, the planned path seems to ignore the presence of obstacles and go ...
3 votes
2 answers
122 views

The 'stomp' configuration parameter was not found

I am trying to use STOMP Planner by following the documentation. As per the documentation, I installed the STOMP from the source in ROS Melodic (Ubuntu 18.04.6 LTS). Unfortunately, the command ...
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1 answer
78 views

Holonomic Constraints

I'm currently reading the book "Principles of Robot Motion" by Choset and came across the following statement in Chapter 3 on Configuration Spaces, in a section where they discuss the ...
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111 views

Ros2 navigation not working properly

I am trying Ackerman drive with nav2. The robot follows the path correctly but global planner doesn't update the path and then the robot stops. Can anyone help me in solving this issue?
1 vote
1 answer
121 views

How to sync motor speeds when doing path planning for a robotic arm?

I am trying to sync the speeds of all motors in a 5 axis robotic arm. By sync I mean determining the speed for each movement so that all axes finish their movement at the same time. The problem I am ...
1 vote
2 answers
2k views

URScript - how to get the actual TCP pose in tool space coordinate system?

I am writing a simple script for universal robots UR10 robotic arm. I am trying to find a way to to see if the tool current position is outside of a 3D bounding box. the 3D bounding box is defined ...
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0 answers
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How to avoid Cusps and Corners when generating spline?

Here I wrote Qubic spline trajectory generation. The following are the result. Spline that generated Curvature of the spline Yaw angle changes According to Figure 02, there is a sharp change in yaw ...
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1 answer
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dual arm closed kinematic chain planning in Moveit

I would like to perform a dual-arm robot pick-and-place task, using Moveit to plan trajectories for both arms. e.g. dual arm carrying a large box from a start configuration to target configuration, ...
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1 answer
54 views

Recommendations for a robot for scanning in a 2D plane

I'm new to robots and struggling to find information (buy) and sources on what we're looking for (or what we are trying to accomplish) for an idea (proof of concept) we want to test. We really don't ...
1 vote
0 answers
738 views

Is there an open source autonomous vehicle simulator with control over traffic? [closed]

As a part of my research work I'm supposed to build or use an existing autonomous vehicle simulator, in which I can also control the behaviour of the traffic in the system, I was searching on Google ...
1 vote
1 answer
63 views

Dynamically-stable Motion Planning for Humanoid Robots

I was reading the classical robotics paper Dynamically-stable Motion Planning for Humanoid Robots and I don't understand why the two trees are swapped in line 7 of figure 5 (page 11). Seems like an ...
1 vote
1 answer
313 views

Controlling YuMi robot by serial port

I'm trying to control the YuMi robot arm by a serial port. The serial port will give the information on what direction the end-effector should move and what is the velocity. What I would like to ...
1 vote
2 answers
288 views

How to find the optimal path for a line following maze robot?

First let me explain the problem. This is a maze made only out of black lines on a white surface. The robot has only a few IR sensors which can sense the position of the line. No other sensory input ...
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1 answer
1k views

Are there any tutorials for OMPL in Python?

I want to learn and understand the Open Motion Planning Library (OMPL) through Python as I don't have much experience with C++. Almost all tutorials are written in C++ and there are some demos in ...
1 vote
1 answer
186 views

Simulator for an adaptive, under-actuated robotic gripper

I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally ...
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3 answers
1k views

Designing S-Curve velocity profile for given Distance

I'm trying to create a high-level API for controlling a drone, where I tell it how far I want it to go (eg. moveForward(10)). The SDK allows me to give the drone an ...

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