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Analysis, design and implementation of a time optimal planner for robotic applications

Gaia Zinni

Analysis, design and implementation of a time optimal planner for robotic applications.

Rel. Alessandro Rizzo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2019

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Abstract:

The aim of the thesis is to design and to develop a time optimal trajectory planner for robotic applications and to integrate it in ROS and MoveIt! framework. The proposed optimization algorithm is based on the dynamic programming approach, which finds the optimal positions, velocities, accelerations and torques, taking the torque constraints into account. Finally, the optimal trajectory is tested on the Gazebo simulator, using different types of controllers available in the framework.

Relators: Alessandro Rizzo
Academic year: 2019/20
Publication type: Electronic
Number of Pages: 86
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: Altec Spa
URI: http://webthesis.biblio.polito.it/id/eprint/12512
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