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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
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KUKA RSI and Visual Servoing #157

Closed VastDong closed 3 years ago

VastDong commented 5 years ago

Hi, thanks for your information about the RSI. You mentioned RSI could be used for visual servoing. And I am doing the visual servoing with KUKA KR6R700 and RSI. I obtain the robot joint position by some calculations with the camera information and send the joint position to KUKA RSI in real time with 30Hz. But you know the robot will stop every time it reach the point I sent to it, which cause the robot shaking badly. I am stacking in this problem and have no idea for how to solve it. Could you please give me some suggestions or could you info me some examples of KUKA visual servoing? Thank you very much!

VastDong commented 5 years ago

Or any one have the experiment of implementing visual servoing with KUKA RSI. Could you please help me ?

BrettHemes commented 4 years ago

You need to ensure that the trajectory data streamed to the robot via RSI is sufficiently smooth. Despite only taking position data (at 4ms intervals) the positions should be continuous and differentiable. From experience, C2 continuity (via trapezoidal motion profiles) is sufficient (i.e., continuous velocity / bounded acceleration)

gavanderhoorn commented 3 years ago

I'm going to close this issue due to inactivity.

Implementing a Visual Servoing loop over RSI is certainly possible, but it's on the user to guarantee smoothness of the trajectories.

Whether that's achieved on the external side (ie: PC) or using one of RSIs filtering components depends on perhaps non-functional requirements.