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Jonathan Meyer edited this page Apr 26, 2017
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Descartes is library intended to perform motion-planning on (possibly under-constrained) Cartesian trajectories for robotic manipulators. You can read/listen to the methodology here.
Some quick notes on the constraints of Descartes:
- Descartes effectively requires closed form kinematics. See the moveit ikfast documentation.
- It works well for 6 DOF robots and a path with 1 extra degree of freedom (e.g. freedom about the tool-z axis). High degree of freedom problems scale poorly with current techniques, and you may want to consider a numerical solver.
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