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Woolfrey / software_robot_library

Custom classes for robot control.
GNU General Public License v3.0
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Test velocity control on real robots #128

Open Woolfrey opened 4 months ago

Woolfrey commented 4 months ago

We have tested the controller numerically in #122, but we need to validate the results on a real robot.

There are 4 possible test cases:

Joint Control Cartesian Control
Non-redundant X X
Redundant robot X X

Joint control mode is the same for both redundant & Cartesian. The only difference is the Cartesian control.

A good sequence would be:

  1. Start from home position, move to starting configuration in joint control mode
  2. Track a Cartesian trajectory in cartesian control mode
  3. Move back to the home position in joint control mode.
ssutjipto commented 1 month ago

https://github.com/user-attachments/assets/b8261de3-9ad1-485c-8623-cbbe6bb2b743

Here's a video of a UR10e performing a trajectory using Cartesian control. I haven't yet recorded a sequence that uses the joint and Cartesian control mode.