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Universal Robot - Cartesian Trajectory Planning

asked 2016-02-02 16:23:46 -0500

varunagrawal gravatar image


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.

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answered 2016-02-03 12:59:20 -0500

gvdhoorn gravatar image

updated 2016-02-03 14:12:55 -0500

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.

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answered 2016-02-03 09:38:14 -0500

matt gravatar image

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

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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?

varunagrawal gravatar image varunagrawal  ( 2016-02-03 10:59:25 -0500 )edit

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Asked: 2016-02-02 16:23:46 -0500

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Last updated: Feb 03 '16