OSR-Course

Introduction

This repo stores my solutions to the exercises in Chapter 2, 3 & the Motion Planning assignment in the course http://www.osrobotics.org/osr/.

Chapter 2

Solutions to the forward & inverse kinematics exercise are respectively implimented in tut_fk.py and tut_ik.py

Chapter 3

The Probabilistic Road Map (PRM) is implemented in tut_path_planning.py. The path found by PRM is displayed in Fig.1

Fig.1 The path found by PRM (green circles are nodes sampled by PRM)

The Rapidly explored Random Tree (RRT) is implemented in tut_path_planning_RRT.py. This file also containts the implementation of the time-parameterization of the generated path. The path found, the velocity and the acceleration in x, y direction are respectedly displayed in Fig.2 and Fig.3.

Fig.2 The path found by bidirectional RRT (green and yellow circles are nodes of each tree)

Fig.3 The velocity and acceleration along the path found by RRT (maximum velocity and accerleration are 0.2 and 0.05)

The RRT is much faster than PRM. RRT takes 4.9 second to find a path, while the PRM needs 10.2 second.

Motion Planning assignment

The solution to this assignment is implemented in pick_and_place.py. Its description is in the assignment_report.pdf.