Quick study of PSO for a few test functions
I kept seeing PSO being used in papers to minimise paths for manipulators, so I wrote a quick toy script to test it out. Here’s the results with a Sphere function:
PSO with 5 particles acting on a sphere function landscape.
Experimenting with producing graphs of reachability mappings
Following the procedure of (Zacharias et. al, 2007: Capturing robot workspace structure: representing robot capabilities), I have been studying the use of reachability mappings of manipulator workspaces. Using inverse kinematic (IK) solvers for a kinematic chain specific to an available manipulator setup, a number of orientations about positions on a discretised grid can be tested to be reachable. A scoring is then assigned to each position by the percentage of orientations that are achievable at that voxel location.
Experimentation with sending geometries to ROS from Grasshopper
Defining geometries in CAD and sending via ROS2 middleware.
A first demonstration of the Moveit2 planning capabilities for a Denso VS068 manipulator
The VS068 moving to a series of points
Three.js model posting test
Here’s a fine ball produced in Rhino/GH, thanks to Iris and Shortest Walk.
Lockdown: Creative inspiration or gradual insanity?
All hail the tomato overlord
This is my first blog post, as a test
I’m just a basic first try at producing a page really. Not used markup before so it’ll be a slight learning curve!
