Moveit & singularities

asked 2018-08-08 07:39:22 -0600

enrico gravatar image

Hi all,

I was wondering if MoveIt actually knows about robot singularities... because when I execute trajectories sometimes the robot makes a little oscillation. It seems that it stops for a little time and then restart moving. Is this because of the robot is passing close a singularity configuration? Or is there another reason?

Ros Kinetic, Ubuntu 16.04

edit retag flag offensive close merge delete

Comments

If with 'MoveIt' you mean MoveIt configured with the default OMPL, then afaik, it will not take singularities into account.

It seems that it stops for a little time and then restart moving.

this could be the time parameterisation interacting with the path planning in a strange way. Does ..

gvdhoorn gravatar imagegvdhoorn ( 2018-08-08 08:24:50 -0600 )edit

.. your robot really come to a halt, or does it slow down and then accelerate again?

gvdhoorn gravatar imagegvdhoorn ( 2018-08-08 08:25:09 -0600 )edit

sorry for late reply but I couldn't access to the lab during this period. The robot comes to a halt, not just a slow down

enrico gravatar imageenrico ( 2018-08-20 08:24:11 -0600 )edit