University of Twente Student Theses


A motion planning implementation and simulation for the Flux One

Belshof, Koen (2023) A motion planning implementation and simulation for the Flux One.

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Abstract:The Flux One system of Flux Robotics will help surgeons during vascular operations, for example during (F)EVAR interventions. It can assist with navigating guidewires inside the blood vessels and shorten the time needed to reach fenestrations. Before entering the operating room, it must be determined that the robotic end-effector can traverse specific trajectories. The system has a robotic arm with 7 degrees of freedom; this is useful for obstacle avoidance and having a bigger workspace. A potential downside is that path planning becomes challenging because there are infinite solutions for each end-effector pose. The limiting factors for solutions are the joint limits and obstacles. The following framework is made to achieve the goal of finding a smooth, safe, and accurate path. The open-source software MoveIt 2 is a robotic manipulation platform used with ROS 2 and is the main structure in the framework. Moveit 2 couples different other software packages, such as path planners, obstacle avoidance, and inverse kinematics. The general optimizing path planner is a rapidly-exploring random tree variant from OMPL. To get a consistent path, the resulting path is re-planned in the robot’s nullspace so that joint position changes between following poses are small while a path from start to goal state is achieved. The robot’s null space is planned in 2D using a probabilistic roadmap method from OMPL. The result is checked in a Gazebo simulation environment, and the surgeons can use it to visualize what the arm will do and whether that is feasible within the context of surgery.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
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