AEROARMS Control-based local optimization methods for planning

This package allows to perform a Dynamic (Re-)Planning within the Set-Based Task-Priority Inverse-Kinematics (SBTP-IK) framework. It is ROS-based and it is provided to work with the Kinova Jaco2 7DOFs but it is can be easily adapted to another robot system changing the files describing the robot kinematics such as Denvait Hartenberg parameters.

The proposed approach is based on merging control-based local optimization methods inside the planning algorithms. For the experiments, a fixed-based 7 DOFs manipulator has been considered in two different scenarios. In the first case, a static environment has been considered. In the second one, the user places an obstacle on the manipulator’s path in real-time. Thus, a re-planning results necessary to manage this change in the environment.