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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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What can I do to make the robot run faster? #77

Open Ohaginia opened 1 year ago

Ohaginia commented 1 year ago

I am using RS080N.

I have the URDF and Moveit settings set to run at maximum speed. But it seems that the maximum speed in repeat mode is not reached.

Is there a speed limit on the driver side? Or is this due to the waypoints in Moveit being finely engraved?

By the way, in the settings displayed on the teach pendant, the repeat speed is set to the maximum speed.

matsui-hiro commented 1 year ago

rs080n_joint_limits.yaml finally limits the speed and the acceleration. But the speed setting is already at maximum.

I think the speed did not increase because the path length was short. To lengthen the path long enough for acceleration would increase the peak speed. Or to change acceleration setting at rs080n_joint_limits.yaml would also increase the speed. But it is not recommended as it will shorten the life time of a robot.