Control System for ARIAC 2018 Competition Environment
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README.md

README.md

Robot Control System for ARIAC Environment

A detailed writeup is available here.

World Representation

World Representation Design

World State

  • Keeps track of robot, parts, and world environment
  • Maintains relationships between parts, containers, and robot
  • Provides a client interface for the planners and controllers to modify environment relationships

Load Scene

  • Updates the environment collision objects
  • Used by controllers to plan collision-free motions

Control System

World Representation Design

Action Manager

  • Receives high-level robot-independent action commands from a planner
  • Converts action commands to lower level robot-independent tasks
  • Sends tasks to the Controller Server for delegation

Controller Server

  • Receives robot-independent tasks from Action Manager
  • Translates tasks to robot-specific executions and send them to available robot controllers

IIWA14 Controller

  • KUKA IIWA14 Robot controller
  • Receives robot-specific executions from the Controller Server
  • Executes using MoveIt for motion planning and collision avoidance