OpenRAVE

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)