Wrote dense matrix RRT implementation.<\/p>\n
This week I wrote the dense matrix A* implementation and its python bindings.\u00a0 This completes our baseline implementation of motion planning.\u00a0 We are currently capable of generating simulated perception data, running RRT to search the state space for viable paths, and then run A* to find and return the shortest path.<\/p>\n
The next step I will be working on is the inverse kinematics module that takes the path returned by A* and generates control signals for the robotic arm.\u00a0 I have already found an open source implementation and have begun to run some tests.\u00a0 I do not have a complete understanding of inverse kinematics and have therefore found some resources to help strengthen my knowledge.\u00a0 The inverse kinematics module is currently under development and I am targeting its completion by the end of next week.<\/p>\n
Work on inverse kinematics module<\/p>\n
Setup serial communication to send commands to the arm<\/p>\n","protected":false},"excerpt":{"rendered":"
What I did last week Wrote dense matrix RRT implementation. What I did this week This week I wrote the dense matrix A* implementation and its python bindings.\u00a0 This completes our baseline implementation of motion planning.\u00a0 We are currently capable of generating simulated perception data, running RRT to search the state space for viable paths, … <\/p>\n