Motion and grasp planning
A gripping movement can be planned with the now known object positions and gripping points The tool used and the surrounding environment of the objects suggest arm positions from which the object can be picked up safely and without collisions. Objects that are easy to reach are grabbed first. Objects that are partially hidden by other objects are thus exposed over time and become more and more accessible.
The robot arm movements are checked in advance for possible collisions using the environmental information generated by the sensor system. By using full volume models of the robot and obstacles, safe and collision-free robot motion can be planned.
This trajectory planning takes place entirely in DRS and uses the robots own kinematics models, thus a motion can be planned for robot arms of all manufacturers regardless of robot types and their concrete planning capabilities.