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roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.
https://robots.uc3m.es/kinematics-dynamics/
GNU Lesser General Public License v2.1
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Pass joint/cartesian velocity object to move commands #159

Open PeterBowman opened 6 years ago

PeterBowman commented 6 years ago

As similarly done in RAPID, make movj and movl (and movc? see https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/135) accept a velocity parameter. Generated trajectories should conform to these values when performing the movement.

Implementation note: we added a configuration parameter (https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/121) that allows to set a velocity reference on runtime. This is used in a twofold manner:

This issue addresses the former, while https://github.com/roboticslab-uc3m/yarp-devices/issues/188 will add low-level support for the latter. As a result, the maximum joint velocity (cpjv) parameter shall be removed.

PeterBowman commented 6 years ago

forbid dangerous trajectories that exceed the software velocity limit (movl, movv, twist, pose)

See https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/161.

PeterBowman commented 6 years ago

Blocked by https://github.com/roboticslab-uc3m/kinematics-dynamics/issues/157. We want to drop the time configuration parameter and generate movl/movc trajectories using the velocity argument provided via API call.

PeterBowman commented 5 years ago

This issue addresses the former, while roboticslab-uc3m/yarp-devices#188 will add low-level support for the latter. As a result, the maximum joint velocity (cpjv) parameter shall be removed.

Done at https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/89020afa781ec6d57db4ab911414f2d4014207cc, the software velocity limit will be fetched from the robot via .ini parameter (thus no need to compute instantaneous values).