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dudasdavid / mogi_chess_ros_framework

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speed up movement #9

Open dudasdavid opened 3 years ago

dudasdavid commented 3 years ago

check UR speed from teach pendant

dudasdavid commented 3 years ago

chech maximum UR speed from teach pendant

dudasdavid commented 3 years ago

UR3e is really fast if joint acceleration limits are increased. Moveit low speed limitation comes from: ~/catkin_ws/src/universal_robot/ur3_e_moveit_config/config/joint_limits.yaml Joint velocity and acceleration limits should be increased

dudasdavid commented 3 years ago

both velocity and acceleration limits should be tried with 6.28 rad/s and 6.28 rad/s^2