How to speed up moveit execution velocity?
I find the moveit execution speed does not release the full power of my industrial robot. I have already set the max velocity factor to 1.0, and the speed still unsatisfactory.
MoveIt generate pleasant plans, however how can I speed up the execution? Do Mass and Inertia property in URDF influence MoveIt execution speed?
Asked by flyinskybtx on 2019-03-11 21:08:03 UTC
Answers
You should check your joint_limits.yaml
and set the values according to your robot's specifications.
joint_limits:
joint1:
has_velocity_limits: true
max_velocity: 2
has_acceleration_limits: true
max_acceleration: 0.4
Asked by fivef on 2019-03-13 01:28:34 UTC
Comments
Especially the acceleration
limits are important. If they are not set, they default to 1.0
(rad/s^2), which may lead to slow movements.
I would also ask @flyinskybtx what sort of driver/interface he has to his "industrial robot". There are many and for a good portion of them they cannot reach 100% performance of the robot, due to poor motion interfaces provided by the controller.
Asked by gvdhoorn on 2019-03-13 03:09:29 UTC
Comments