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Moveit! for pipeline robot

asked 2021-07-19 15:38:17 -0500

VineetPandey gravatar image

I am working on exploring frameworks/libraries that can be used for control and navigation of a modular pipeline robot (the modules are wheeled). The ros_navigation package is designed for a ground vehicle navigation but can be modified (with a lot of effort) for usage in 3d navigation inside a pipe. I have not used Moveit! yet, but my understanding from the documentation is that it can be used for designing the navigation and controls architecture for the application. Is my understanding correct? Is there any other ROS based framework available for this application?

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I do not know what you mean by "pipeline robot", nor what it is that you are trying to control. Is it more like a robot that drives around on wheels in a 2d plane, or is it more like a robot arm that needs to manipulate objects in a 3d volume?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-07-24 08:59:38 -0500 )edit

So, I am working on a robot that moves inside a hollow pipe and has a modular design, imagine a snake robot with multiple modules (drive, sensing, battery, communication etc) something like this. One of the major challenges is to navigate inside the pipe autonomously, especially while navigating through a bend. What I want to understand is if the motion control of the robot which includes finding the IK solution in each scenario, can be determined using moveit package. My major concern is moveit deals with robotic arms, in which case there is a fixed base, while in my robot there is not fixed base (because the entire serpentine robot is moving inside the pipe).

VineetPandey gravatar image VineetPandey  ( 2021-07-26 11:36:19 -0500 )edit

Your image link shows segments with wheels mounted at 120 degree spacing, so presumably all 3 are meant to touch the walls of the pipe at the same time. Does this robot have powered joints between the segments, or "dumb" couplers (conceptually like those on a normal train)?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-07-27 08:10:19 -0500 )edit

Oh yes. I should have mentioned. The joints are powered universal joints.

VineetPandey gravatar image VineetPandey  ( 2021-07-27 10:08:28 -0500 )edit

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answered 2021-07-27 18:21:05 -0500

Mike Scheutzow gravatar image

I don't really see how any part of MoveIt can help you. It is designed and optimized for a much different goal than you describe. The need for moveit-style IK is almost non-existent, as the physical constraints of the pipe(s) are going to control how a joint is positioned.

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Asked: 2021-07-19 15:38:17 -0500

Seen: 36 times

Last updated: Jul 27