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.
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.
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.