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Kinovarobotics / kinova-ros

ROS packages for Jaco2 and Mico robotic arms
BSD 3-Clause "New" or "Revised" License
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Control Jaco2 to move along predefined trajectory with API #412

Closed GS-DUT closed 1 year ago

GS-DUT commented 1 year ago

Hi there. I am trying to control Jaco2 to move along predefined trajectory. To do this, sendAdvanceTrajectory() is called to send trajectory points in a fixed frequency. And, the "POSITION_TYPE" of trajectory points are set "ANGULAR_POSITION". However, Jaco2 seems like to decelerate to 0 at each trajectory point, which makes it jitter during movement. Is there any way to make movement smooth without setting "POSITION_TYPE" of trajectory points to "ANGULAR_VELOCITY"? Looking for reply. Thanks in advance.

felixmaisonneuve commented 1 year ago

Hi @GS-DUT,

Unfortunately no, the arm will always decelerate to 0 at each trajectory point. You could move the arm in velocity control, but this is probably not what you are looking for.

Best, Felix