martinleroux
commented
5 months ago Hi Miguel,
Using cartesian actions, the robot will always have the behaviour that you are describing. The only solution is to add additional points to move around your obstacle directly in your trajectory. There are many strategies with varied levels of complexity. A popular "family" of strategies is that of A* and its derivatives. Here is a great article on Research Gate on the topic: https://www.researchgate.net/figure/Normal-path-generation-with-a-traditional-A-Star-algorithm-and-an-improved-A-Star_fig4_331738923
Hello, I would like to ask the community if there is any way to avoid the protection zones when calculating the inverse kinematics. It is true that once the inverse kinematics is calculated, the robot tries to do the trajectory and, if it collides with a protection zone, it stops. I want it to generate the trajectory avoiding these protection zones first, instead of stopping when it reaches them. Is there any function implemented to do this? I'm not using MoveIt, I'm using the action type reach_pose to send the cartesian pose I want. Thanks in advance !!