robot_constraint_manager

This project implements the VFIs constraints using a YAML configuration file. A version is described in this publication

@Article{marinho2023multiarm,
  author       = {Marinho, M. M. and Quiroz-Omana, J. J. and Harada, K.},
  title        = {A Multi-Arm Robotic Platform for Scientific Exploration},
  journal      = {IEEE Robotics and Automation Magazine (RAM)}, 
  month        = dec,
  year         = {2024},
  pages        = {10--20},
  custom_type  = {1. Journal Paper},
  url          = {https://arxiv.org/abs/2210.11877},
  url_video    = {https://youtu.be/hnBuCpjLWzs},
  doi          = {10.1109/MRA.2023.3336472},
  volume       = {31},
  number       = {4}
}

The VFIs are described in this publication

@Article{marinho2019dynamic,
  author       = {Marinho, Murilo M and Adorno, Bruno V and Harada, Kanako and Mitsuishi, Mamoru},
  title        = {Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities},
  journal      = {IEEE Transactions on Robotics (T-RO)},
  year         = {2019},
  month        = oct,
  volume       = {35}, 
  number       = {5}, 
  pages        = {1166--1185},
  url          = {https://arxiv.org/pdf/1804.11270},
  url_video    = {https://youtu.be/tB6moMfeacs},
  doi          = {10.1109/TRO.2019.2920078},
  custom_type  = {1. Journal Paper},
}

Prerequisites

DQ Robotics

Ubuntu:

sudo add-apt-repository ppa:dqrobotics-dev/development 
sudo apt-get update && sudo apt-get install -y libdqrobotics libdqrobotics-interface-coppeliasim libdqrobotics-interface-coppeliasim-zmq libdqrobotics-interface-qpoases

macOS:

Clone and build the CMake projects manually.

Yaml-cpp

Ubuntu:

git clone https://github.com/jbeder/yaml-cpp
cd yaml-cpp
mkdir build
cd build
cmake -DYAML_BUILD_SHARED_LIBS=on ..
make
sudo make install

macOS:

brew update
brew install yaml-cpp

Robot Constraint Editor

git clone https://github.com/Adorno-Lab/robot_constraint_editor
cd robot_constraint_editor
mkdir -p build && cd build
cmake .. && make && sudo make install

Install (UNIX)

git clone https://github.com/Adorno-Lab/robot_constraint_manager
cd robot_constraint_manager
mkdir -p build && cd build
cmake ..
make
sudo make install

Check this example.