Redundancy resolution for energy minimization and obstacle avoidance with Franka Emika's Panda robot

Описание: This is the accompanying video of the paper
Ferrentino, E.; Salvioli, F.; Chiacchio, P. Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation. Robotics 2021, 10, 42. doi: https://doi.org/10.3390/robotics10010042

Globally-optimal trajectories along a pre-scribed path are planned for Franka Emika's Panda robot using dynamic programming. On a first trial, the square norm of joint velocities is minimized, to achieve indirect minimization of energy. In this case, the robotic arm collides with the wall on the side. On a second trial, a second objective function is added, corresponding to the distance from the obstacle, in a Pareto-optimal setup. The solution corresponding to the minimum norm of the objective vector is shown in the video. In this case, the robotic arm avoids the obstacle.

The dynamic programming optimization algorithm has been implemented in ROS and provided as an additional MoveIt! planning capability. A public version of the source code can be found here:
https://github.com/unisa-acg/moveit_d...

Timeline:
0:00 Intro
0:04 Square norm of velocities
0:21 Distance from obstacle
0:39 Objective function comparison

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