Michael Ripperger (Southwest Research Institute)
Kinematic reachability analysis plays a major role in the design of any robotic system. Conventionally we attempt to understand a robot's reach capability by creating CAD models and manually moving them around an anticipated environment. This qualitative type of analysis is subject to poor interpretation and can lead to problematic design choices. Southwest Research Institute is solving this problem through the development of a software framework for analyzing reachability on a workpiece. This approach evaluates reachability using objective metrics and provides interactive visualization to improve the quality of robot reachability assessment.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.