Trapezoidal cartesian velocity profile with trajectory

[lakshmip001]

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

[mirkow]

This package wont do any collision detection I guess

[lakshmip001]

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]

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]

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

[BrettHemes-3M]

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.

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On Thu, Apr 25, 2019, 4:31 AM lakshmip001 ***@***.***> wrote: ok. I am looking for package, in which I can control Cartesian Velocity (trapezoidal velocity profile) for a 6DOF robotic arm UR5. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#5 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACLIRKLA6UGMYVX5U3MBLRLPSF25VANCNFSM4HIK2F3Q> .

[lakshmip001]

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-3M]

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?

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On Thu, Apr 25, 2019, 7:17 AM lakshmip001 ***@***.***> 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 <#5 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ACLIRKNL5DI5E5S7J6R6HQTPSGHONANCNFSM4HIK2F3Q> .

[lakshmip001]

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.