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nepfaff / tenaci

Software for a robotic manipulator that can rotate and stack cubes, draw sketches, and prepare a miniature breakfast.
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Task 2: Collision avoidance while rotating gripper on the spot #15

Closed nepfaff closed 2 years ago

nepfaff commented 2 years ago

Rotating the gripper on the spot does not work. We require a positive z-offset to avoid crashes. This is the case as we plan a straight-line trajectory between the start and end tip of the gripper. However, we disregard the remaining part of the gripper. The gripper is quite big and hence crashes into the floor when doing this.

Simply adding a z-offset does not work due to joint constraints.

Maybe something similar to the solution proposed in #14?

nepfaff commented 2 years ago

This is now implemented. Requires testing on the real robot.