Position Controlled Motion with Velocity Constraint on Fanuc Robot
I'm currently trying implement path planning and execution of dense cartesian trajectories on fanuc arms. I've had reasonable success planning the path provided that I ignore the specified velocities on the points I'm planning to. I have read some threads which said to modify the duration_from_previous in a robot_trajectory::RobotTrajectory object to achieve different traversal speeds between points in a trajectory. Although this approach works perfectly well in simulation, upon moving the actual arm, I find that the arm only moves at constant velocity. Is there currently any way to adjust movement speed of a real, hardware fanuc arm? Any input would be greatly appreciated.
May I suggest a topic change? 'velocity control' is typically understood to mean to control either the joints of a robot, or a Cartesian (eef) frame using pure velocity. That is not what you are asking for. Instead, you'd like your robot to perform a position controlled motion under certain ..
.. velocity constraints. The limiting factor here is the driver that doesn't seem to support that. Perhaps adding that to your question title would be a good thing.