search

JiadingWen / Simulation-of-Vision-Based-Manipulator-Control-Algorithms-in-Matlab

Simulation of Vision-Based Manipulator Control Algorithms using RoboticsToobox in Matlab
38 stars 3 forks source link

matlab vision servo is too slow #3

Closed cd001100 closed 1 year ago

cd001100 commented 1 year ago

Hello author, is there a problem of slowing down the real visual servo with matlab, how to control the angular velocity of the robot arm with matlab output from the visual servo, is there any way to control the robot arm, thanks

JiadingWen commented 1 year ago

I guess you want to limit the angular velocity? To do that, for example, in "02 Simulation IBVS Monocular/Main.m": % Upper limit of angular velocity of robot manipulator joints (rad/s) joint_velocity_max = 0.5; You can change the value of "joint_velocity_max" to limit the output (i.e. "theta_deria") of function "PUMA_ivkine".

By the way, the animation you saw from matlab is just a demenstration. The trajectory of the arm in animation is reliable, but the velocity is not.