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tobiaskunz / trajectories

Time-Optimal Path Following with Bounded Acceleration and Velocity
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Trapezoidal cartesian velocity profile with trajectory #5

Open lakshmip001 opened 5 years ago

lakshmip001 commented 5 years ago

Can I get trajectory with trapezoidal Cartesian velocity profile and collision detection using this trajectories package?

mirkow commented 5 years ago

This package wont do any collision detection I guess

lakshmip001 commented 5 years ago

ok. I see bounds on joint velocities and accelerations , using this trajectories packages can I obtain trapezoidal Cartesian Velocity profile for a 6DOF robotic arm?

mirkow commented 5 years ago

This package has nothing to do with joints or Cartesian velocities. It is just trajectories. Cartesian Position will work, orientation wont work since it would need special treatment of orientations.

lakshmip001 commented 5 years ago

ok. I am looking for package, in which I can control Cartesian Velocity (trapezoidal velocity profile) for a 6DOF robotic arm UR5.

BrettHemes commented 5 years ago

I'd be interested to hear what you find. I ended up writing a package to do this as I couldn't find any existing. Depending on your needs/interest/timeframe I could probably share what I have. It still needs documentation and some better error handling but has some decent functionality.

On Thu, Apr 25, 2019, 4:31 AM lakshmip001 notifications@github.com wrote:

ok. I am looking for package, in which I can control Cartesian Velocity (trapezoidal velocity profile) for a 6DOF robotic arm UR5.

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lakshmip001 commented 5 years ago

Currently I ended up with trajopt +Moveit (openrave) , but the thing is Cartesian velocity has to be linked too many parameters where I don't get a relation on the obtained velocity . I mean trajectory is optimised using trajopt with only joint valves with a constraints on joint velocities and Cartesian velocities , while the velocities and accelerations are generated using Moveit or Openrave . So , I don't get a relation for the obtained velocity and constraints defined. I am still searching if I can find a better solution. It will be great if I can get the link of already written package or any suggestions on how I can proceed .

BrettHemes commented 5 years ago

Let me see what I can do to get what I have released. What is your time frame like? Is a couple of weeks too long?

On Thu, Apr 25, 2019, 7:17 AM lakshmip001 notifications@github.com wrote:

Currently I ended up with trajopt +Moveit (openrave) , but the thing is Cartesian velocity has to be linked too many parameters where I don't get a relation on the obtained velocity . I mean trajectory is optimised using trajopt with only joint valves with a constraints on joint velocities and Cartesian velocities , while the velocities and accelerations are generated using Moveit or Openrave . So , I don't get a relation for the obtained velocity and constraints defined. I am still searching if I can find a better solution. It will be great if I can get the link of already written package .

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/tobiaskunz/trajectories/issues/5#issuecomment-486631194, or mute the thread https://github.com/notifications/unsubscribe-auth/ACLIRKNL5DI5E5S7J6R6HQTPSGHONANCNFSM4HIK2F3Q .

lakshmip001 commented 5 years ago

Currently I am still searching for a solution . So , time frame is not fixed but if I find a solution early it will be better . I can implement it and test it for fitting into my application.