Cartesian velocity control.
NOTE: This code is under development and may still have issues.
DO NOT try this code near robot singular points. Also, if you're using the motion planning in move_2_cart, be aware that singularities may occur when converting quaternions to euler angles and this may cause unexpexted movements.
Also, unexpected/fast movements may occur if the computer is under load from other tasks and cause delays in the calculation of motion planning so ALWAYS keep your hand on the safety button to be sure.
mhubii
commented
1 week ago
Cartesian velocity control. NOTE: This code is under development and may still have issues. DO NOT try this code near robot singular points. Also, if you're using the motion planning in move_2_cart, be aware that singularities may occur when converting quaternions to euler angles and this may cause unexpexted movements. Also, unexpected/fast movements may occur if the computer is under load from other tasks and cause delays in the calculation of motion planning so ALWAYS keep your hand on the safety button to be sure.