# Does ros have some package that can provide linear and circular interpolation

hello, I am using ros to control a six-dof robot arm and can realize inverse kinematics.

Now I want to control it to move in the cartesian space, which may need linear and circular interpolation, so how could achieve this fastly as I am new about this and does ros have some package can help me do this?

Thank you for help!

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In the DRC we used piecewise linear cartesian motions to approximate circular motion. A helper function for this is getCircularArcPoses , which just generates poses lying on a circular arc. An example of it being called is here. The poses are then forwarded to MoveIt's cartesian planner starting here and then sent to the robot for execution.

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Linear interpolation for tool space movements is often accomplished by using the “Linear Segments with Parobolic Blends” (LSPB) method. Such a method is required to account for physical motor limitations such as instantaneous velocity changes. Refer to chapter five in this text in http://bayanbox.ir/view/8445052974254... . Page 177 introduces Linear Segments with Parobolic Blends. Use these equations in tool space (Cartesian xyz).

this is also a good trajectory generation source http://www-lar.deis.unibo.it/people/c...

Step 1) define goal points (i.e. taught points..) Step 2) solve LSPB along the vectors connecting the goal points (solving x, y, z components independently) which gives all the needed waypoints Step 3) convert each waypoint to joint space using IK.

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