{"title":"不同机械手抓取执行单查询运动规划的性能研究","authors":"J. Meijer, Qujiang Lei, M. Wisse","doi":"10.1109/ICAR.2017.8023648","DOIUrl":null,"url":null,"abstract":"This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"5 7","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Performance study of single-query motion planning for grasp execution using various manipulators\",\"authors\":\"J. Meijer, Qujiang Lei, M. Wisse\",\"doi\":\"10.1109/ICAR.2017.8023648\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.\",\"PeriodicalId\":198633,\"journal\":{\"name\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"volume\":\"5 7\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 18th International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2017.8023648\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 18th International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2017.8023648","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Performance study of single-query motion planning for grasp execution using various manipulators
This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the planners is measured by means of solved runs, computing time and path length. Based on the results, recommendations are made for planner choice that shows high performance for the used manipulators.
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