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sayabot

The following are the planners benchmarked in the mentioned project as observed in the results.pdf graphs respectively.

LBKPIECEkConfigDefault KPIECEkConfigDefault RRTConnectkConfigDefault RRTkConfigDefault RRTstarkConfigDefault BKPIECEkConfigDefault

IKfastresults.1.log

The benchmarked log file of the above mentioned planners and using IK_fast61 transform6d kinematics solver

tracIKresults.1.log

The benchmarked log file of the above mentioned planners and using trac_IK kinematics solver

benchmark_SOLVER_results.pdf

visualization of the logs collected

Motion planning & moveIt.pdf

Research done on planners available in moveit! and a brief detailing of planners available in OMPL.

demo_SOLVER.mp4

a short video of manipulator planning using different kinematic solvers

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