- Description
-
Details
Description:
Planning and control of the KUKA youBot in OpenRAVE.
The robot model contains:
- all the DOF of the robot (4 wheels + 5 servos for the arm + gripper)
- an accurate model of the physics (masses, torques, collisions)
- By integrating a youBot model with OpenRAVE we can use IKFAST, several planners, inverse reachability, link statistics and several capability maps of youBot
A video of the simulation model is available here.
Installation:
Please follow the installation instruction as provided in this link . In order to download the youbot model for OpenRAVE, follow:
git clone https://github.com/rdiankov/collada_robots.git
cd collada_robots
openrave kuka-youbot-hires.zae
Usage:
In order to test the IKFAST for 5 degrees of freedom robot:
openrave.py --database inversekinematics --robot=kuka-youbot0highres.zae --manipname=arm --iktype=translationdirection5d --iktests=100
The generated IK solutions can be tested by using the following command :
openrave.py --database inversekinematics --robot=kuka-youbot0highres.zae --manipname=arm --iktype=translationdirection5d --iktests=100 --show
Support
- get help
- mail to users@youbot-community.org (or click here to subscribe)