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OpenChallenges
Page describes important problems that still need to be solved specifically for motion planning for industrial robotics.
'''priority: 1'''
Gives 100% guarantee that robot will not collide.
'''priority: 2'''
Reliable and faster collision checking with convex hull decompositions rather than triangle mesh surfaces. Treat environment collisions, self-collisions, and target collisions separately. Develop system for automatic/intelligent padding of obstacles.
'''priority: 1'''
[http://www.staff.science.uu.nl/~gerae101/pdf/hqpijr.pdf Shortcutting/Motion Quality Algorithms]
Dynamics:
- [http://ros.org/wiki/stomp_motion_planner STOMP Motion Planner] - [https://github.com/usc-clmc/usc-clmc-ros-pkg code], [http://www.willowgarage.com/sites/default/files/Kalakrishnan_ICRA_2011.pdf paper]
- [http://www.nathanratliff.com/robotlearning/chomp.html CHOMP Motion Planner], [http://www.ri.cmu.edu/pub_files/2009/5/icra09-chomp.pdf paper]
Also incorporate ideas from:
- JEAN-JACQUES E. SLOTINE AND HYUN S. YANG. "Improving the Efficiency of Time-Optimal Path-Following Algorithms", 1989
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- Bobrow, S. Dubowsky, and J. S. Gibson. "TimeOptimal Control of Robotic Manipulators Along Specified Paths", 1985.
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== Plan Through Multiple Hand Waypoints ==
'''priority: 2'''
Given an ordered set of hand locations that a robot to go to, find the best collision-free path that passes through those points. This is difficult because IK is not specified.
'''priority: 2'''
Given a time-limit on robot duration, find the smoothest path (least torque?) that will go from initial to goal configurations.
'''priority: 3'''
Smooth motion in joint space does not mean the hand motion will be smooth. Find a way to filter the joint values so that hand motion doesn't exceed a certain acceleration magnitude, and frequency of vibrations is low. Need robot dynamics for this. An interesting paper to check is ''Vibration Control of Semiconductor Wafer Transfer Robot by Building an Integrated Tool of Parameter Identification and Input Shaping'' by Aribowo, Yamashita, Terashima, Masui, Saeki, Kamigaki, Kawamura.
'''priority: 3'''
Work on IKFast to support a wider range of complex robots for inverse kinematics. Solve forward kinematics equations of robots with closed chains.
Use torque limits and dynamics equations.
'''priority: 3'''
Continue work on [http://www.openrave.org/testing OpenRAVE Testing System] to support evaluating 3rdparty planning algorithms.
'''priority: 4'''
Create easy system to plan with obstacle data generated from the Microsoft Kinect or ASUS Xtion.
'''priority: 2'''
Connect a high precision reliable physics engine for simulating robot motors and dynamics.