Benchmark of Sampling Based Motion Planners in Bin Picking Manipulation Task

There is a wide variety of motion planning techniques for robots; however, there are few tools to test and compare the performance of motion planners in various environments. This work proposes a test layout for a set of industrial robots to measure their performance in manipulation in a constrained environment. The developed work uses ROS and the benchmarking tool Robowflex. The comparison allowed to obtain the performance results of multiple motion planners in a shorter time than in previous works. These results facilitate the correct choice of a motion planner, which is critical in current industrial environments. The conducted benchmark provides a valuable tool for potential comparisons of new motion strategies to proven and established methods.