Closed Linjackffy closed 6 years ago
Hi @Linjackffy ,
In principle, it is possible
Suppose you want to limit the Cartesian and Velocity constraints of a point moving in 3D space. One thing you can do is to think of the point as being a 3-dof robot with translational movements along the X, Y and Z-axis respectively.
Rotational kinematic constraints will be somewhat more troublesome, but you should be able to re-formulate those constraints to the form accepted by TOPP-RA.
Hope that help. Please let me know if you have any further question.
Im doing something similar.. i simply translate the cartesian waypoints to joint waypoints tho, using the inverse kinematics of my model
@hungpham2511 Thanks for your reply! Your suggestion is instructive for me. I also need to think about joint constraints like velocity, acceleration, etc, while moving along Cartisian Space path. Can I use inverse kinematics to convert the joint constraint to the cartesian constraint?
@JadBatmobile Your method may lose the precision of the cartesian path.
Hi @Linjackffy
Have you resolved your issue? In fact what @JadBatmobile suggest is what I would do if you also want to constraint joint velocity/accel limits. That is to use inverse kinematics to convert a path from Cartesian space to Joint space, then constraint w.r.t all constraints: Cart Accel, Joint Vel, Joint Accel, ....
I want to use toppra for my research. After I finish reading the documentation and tutorials, I found that the paths are represented by Joint Space.Can I use Cartesian Space path as input for toppra? Looking forward to your reply.