Is there any workspace analysis tool in ROS for a robot arm?

asked 2012-10-16 21:13:44 -0500

741 ●21 ●32 ●42 http://www.cnblogs.com...

I have a 7 DOF robot arm and i want to use it to do table top manipulations. so firstly i want to do a workspace analysis for the arm so that i can know how to place the table such that the arm can reach any point of the table. i've tried a brute-force way, that is, to increase each joint's rotation by a certain step and then use FK to get a position. but since my arm is of 7 DOF, this method is very very slow and the final result contains too many data for matlab to display. i also know that there is a monto-carlo based method, but don't know how to realize it. so i just wonder if there is any tool/package in ROS to do the workspace analysis. it would be even better to show the workspace in rviz. Thanks.

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answered 2012-10-16 23:02:59 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

I'm not sure about the availability of what you request for ROS/rviz (hopefully someone else will shed light on this), but OpenRAVE offers functionality for this. It is pretty easy to convert a URDF based robot arm to the OpenRAVE format, so you could give that a shot. I covered the conversion process as part of a answer here.

See also the kinematicreachability OpenRAVE docs and the other database generators.