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We have developed a solution for this issue, you can check it here: https://github.com/ros-planning/moveit/issues/3381. This function allows the definition of dual-arm trajectories according to 5 synchronization policies: both arms start and finish moving at the same time, both arms move independently (each one at its own target speed), both arms reach a set of waypoints at the same time (the transitions between waypoints are smooth and the arms don’t stop between waypoints), constant distance master-slave (i.e., just the trajectory of the master arm is specified, and the slave arm moves to keep always a constant relative pose with respect to the master arm), identical master-slave (i.e., just the trajectory of the master arm is specified, and the slave arm performs the same cartesian displacements and rotations as the master arm). The function checks possible collisions and retrieves a safe plan. With this function, the user has full control over the path and speed of the arms.

The performance of the five synchronization policies on a SDA10F dual-arm Yaskawa robot can be seen in this video (from minute 3:55): https://youtu.be/DJXKWWmBquM?t=235.