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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.
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.
I don't know of any planners within the Industrial universal_robots package, but you can use a trajectory planner like MoveIt.
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: 2016-02-02 16:23:46 -0600
Seen: 1,769 times
Last updated: Feb 03 '16
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