Linear movement ABB Robot
Hello,
Currently I'm working on a project with an ABB IRB 120 robot. I'm at the point where I can fully control the robot using the separate joints. I have written a program which uses the separate joints. The next challenge is to move the robot using linear movement.
Until now I can only find ways to control the robot using separate joints. Does anyone know how to implement linear movement?
I'm using Ubuntu 18.04 and ROS Melodic.
Kind regards,
what do you mean exactly with "separate joints"? Are you referring to joint vs Cartesian trajectories (fi)?
Are you using MoveIt to control this arm? That should just require setting up a joint state publisher and a trajectory action server.
Hello, Indeed I'm referring to Cartesian trajectories. Right now I have an array of 6. each number represents a joint orientation in radians for each joint . I would like to give it an array of 3 or 3 variables which contains an XYZ so I can move in the XYZ direction.
Take a look at the
computeCartesianPath(..)functionality in MoveIt and/or PilzDE/pilz_industrial_motion.