Southwest Research Institute

Tesseract, a SwRI-developed open source robotic planning software framework, within the ROS-Industrial open source project, provides a flexible and extensible framework for various tasks related to robot motion and manipulation. Current path planners that work with Tesseract (e.g. Trajopt, OMPL, and Descartes) use constraints to generate collision-free paths. However, these current path-planning algorithms are poorly suited for high-degree-of-freedom (DOF) systems and additional planning constraints must be considered within the Tesseract framework to properly plan for a collaborative multi-arm system. As such, a significant portion of this internal effort involved implementing additional tools and constraints to plan trajectories for multiple robots simultaneously. We added constraints centered around multiple robot control, parameterized by the object being manipulated and the task being performed.The manipulation of heavy and bulky objects is a challenging endeavor in the field o...