Universal Robot - Cartesian Trajectory Planning

Hi,

Can someone please give me details on how to provide point by point Cartesian Trajectories to a UR5? There is a proposal to for a CartesianTrajectory package in trajectory_msgs, but that still seems to be in the alpha stage.

Asked by varunagrawal on 2016-02-02 17:23:46 UTC

Comments

Answers

I don't know of any planners within the Industrial universal_robots package, but you can use a trajectory planner like MoveIt.

Asked by matt on 2016-02-03 10:38:14 UTC

Comments

MoveIt does not seem to have real time capabilities which is a requirement of the project. Also I would like to leverage the inverse kinematics calculations off the UR controller rather than do it on a desktop. Is Descartes an option?

Asked by varunagrawal on 2016-02-03 11:59:25 UTC

If you already know where you want your manipulator to go, don't need any sensor-guided motion planning and require (actual) real-time guarantees, then I'm wondering whether ROS, MoveIt or even the universal_robot packages are suited for your specific use case (right now).

Perhaps it would be more efficient to directly send movel(..) or speedl(..) URScript commands to TCP 30002 or 30003.

Asked by gvdhoorn on 2016-02-03 13:59:20 UTC