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xArm-Developer / xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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No smooth motion between Joint, Linear & Circle motions #3

Closed jdsl-software closed 2 years ago

jdsl-software commented 4 years ago

There is no smooth motion if the following motion commands are called consecutively, meaning the xArm6 robot has to stop in between both motions: Basically every command except set_position() with a radius superior to 0 (and wait=false).

Is there a way to achieve different kinds of motion smoothly ?

vimior commented 4 years ago

Currently, there are ways to achieve smooth motion

  1. move lineb: Use set_position interface, but to set the parameter radius greater than or equal to 0 and wait = false, you can refer to routine 1004-move_arc_line.cc
  2. Using servoj mode, you can refer to routines 7001-servo_j.cc and 7002-servo_cartesian.cc