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Measuring motion of arm #144

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ahundt opened this issue Sep 22, 2017 · 0 comments
Open

Measuring motion of arm #144

ahundt opened this issue Sep 22, 2017 · 0 comments

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@ahundt
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ahundt commented Sep 22, 2017

Create a new “cut file”, convert a knee cut file
Control robot with cartesian motion
Control robot with constrained optimization based control
Evaluate benefit of different constraint and objective formulations
Given a fixed cut file what is the ideal starting configuration of the kuka (workspace check)
Run 100 different starting positions and see how the success rate compares
Mention as a use case the cutting of a knee implant
Need a representative cut file

Can you actually execute the path for a given
need loss function/distance metric between pose at each time step and actual.

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