Implementing Motion Planning Software for Gretchen's Manipulator
Date
2016
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Swarthmore College. Dept. of Engineering
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Thesis (B.A.)
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en_US
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Full copyright to this work is retained by the student author. It may only be used for non-commercial, research, and educational purposes. All other uses are restricted.
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Abstract
Gretchen is a mobile Fetch robot with a seven degree of freedom manipulator. Her current software generally creates motion plans that add a great deal of unnecessary movement to the solution path. This is a significant problem due to the fact unnecessary manipulator movement causes an increase to the probability of collision. The goal of this project is to replace Gretchen's current motion planning software so that it produces nearly optimal paths. After applying a greedy smoothing heuristic to a Rapidly Exploring Random Tree algorithm, this project's software produces paths that are both direct and smooth in position, acceleration, and velocity. Furthermore, this software can plan to avoid simple obstacles that have already been placed into Gretchen's environment. In the future, this software could be improved by producing trajectories that speed up manipulator movement.