Is there a way to change the velocity of moveit cartesian path planner?

Hi,

I want to move the end-effector of my ur5 robot in a small circle with radius of 2 cm. With the moveit cartesian path planner this works, however it is way to slow for it to be used for my project. Is there a way I can speed up the robot so it makes faster circles?

Asked by lr_k123 on 2019-07-02 02:51:29 UTC

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Answers

You can post-process your planned trajectory to have time parameterization. You can find the detailed description here link text

You can also try using Descartes planner, you will be able to specify the timing constraint for your set of points.

Asked by Deepanshu Bansal on 2021-07-09 08:33:44 UTC