CKCplanning

Motion Planning of Fully-actuated Closed Kinematic Chains with Revolute Joints: A Comparative Analysis

Author: Avishai Sintov, http://avishaisintov.wordpress.com

Paper: https://ieeexplore.ieee.org/document/8384022/

Installation

1. Install OMPL: http://ompl.kavrakilab.org/download.html
2. Install PQP: http://gamma.cs.unc.edu/SSV
3. Install KDL: http://www.orocos.org/wiki/orocos/kdl-wiki
4. Also requires: armadilo, openGL (for the simulation).
5. Change required dependency paths in makefile.

To run a planner:

1. make
2. ./pXXX -h (for options)

XXX - nr: Newton-Raphson projection. pcs: Passive chains swap. rlx: Relaxation of the closed kinematic chain constraint. rss: Sampling of singular configurations.

To run simulation:

1. cd simulator
2. ./viz -h (for options)