Print Email Facebook Twitter Performance study of single-query motion planning for grasp execution using various manipulators Title Performance study of single-query motion planning for grasp execution using various manipulators Author Meijer, Jonathan Lei, Q. (TU Delft Robot Dynamics) Wisse, M. (TU Delft Robot Dynamics) Contributor Meng, Max Q.H. (editor) Ren, Hongliang (editor) Song, Shuang (editor) Date 2017 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. Subject planningmanipulatorsmeasurementslibrariesbidirectional controlgrippers To reference this document use: http://resolver.tudelft.nl/uuid:931871f8-b5be-42fd-ab10-499725580ce6 Publisher IEEE, Piscataway, NJ, USA ISBN 978-1-5386-3157-7 Source Proceedings of the18th International Conference on Advanced Robotics: ICAR 2017 Event ICAR 2017: 18th International Conference on Advanced Robotics, 2017-07-10 → 2017-07-12, Hong Kong, China Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2017 Jonathan Meijer, Q. Lei, M. Wisse Files PDF Performance_Study_of_Sing ... lators.pdf 1.22 MB Close viewer /islandora/object/uuid:931871f8-b5be-42fd-ab10-499725580ce6/datastream/OBJ/view