Velocity control

asked 2019-02-22 06:08:20 -0600

morgue gravatar image


I use ur10 with moveit. I would like to play with velocity slower or faster. Therefore, how can i do it? Thank you.

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Sorry your question doesn't make much sense. What are you trying to do?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2019-02-22 09:35:33 -0600 )edit

Most likely the question is about having control over the (maximum) velocity used to execute a motion/trajectory.

"velocity control" would be something else.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-22 09:56:55 -0600 )edit

I would like to play with speed between minimum and maximum velocity. Because i guess it works nearly full speed and i could not know how to make it slower.

morgue gravatar image morgue  ( 2019-02-22 10:42:24 -0600 )edit

I think by defaut, the plan you get is full speed. You can set max_velocity_factor and max_acceleration_factor for your move_group, this will do the slow down. By default the parameter is 1.0.

flyinskybtx gravatar image flyinskybtx  ( 2019-03-11 21:20:31 -0600 )edit

If you are using moveit within rviz, you can also change the value in the spin box called velocity scaling in the moveit motion planning plugin. Also have a look at this

jclinton830 gravatar image jclinton830  ( 2019-07-09 19:34:46 -0600 )edit