ScLERP Motion Planner

Screw Linear Interpolation based motion planner for serial manipulators

Dependencies:

• kinlib

Plugin implementation for MoveIt

ScLERP Motion Planner Plugin

Documentation

The code is documented using Doxygen style comments

Screw Linear Interpolation based motion planner

A. Sarker, A. Sinha and N. Chakraborty, "On Screw Linear Interpolation for Point-to-Point Path Planning," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 9480-9487, doi: 10.1109/IROS45743.2020.9341651.