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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
208 stars 155 forks source link

XArm smooth motion object tracking #149

Closed Akumar201 closed 1 year ago

Akumar201 commented 1 year ago

Hi, I would like to request for a potential solution for my current problem. Currently I am tracking an aruco marker and moving the arm to that point, but the motion is not continuous (it's kind of jerky), is there methods that can be used to make the motion smoother. I am using MoveIt python API. Ultimate goal is to track object and later pick them from moving conveyor belts without using encoders.

Akumar201 commented 1 year ago

This issue has been resolved as I have to pick and place object from moving conveyor belt, I can use MoveIt in C++ to make the planning faster.