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How to speed up moveit execution velocity?

asked 2019-03-11 21:08:03 -0500

flyinskybtx gravatar image

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?

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answered 2019-03-13 01:28:34 -0500

fivef gravatar image

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
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4

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.

gvdhoorn gravatar image gvdhoorn  ( 2019-03-13 03:09:29 -0500 )edit

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Asked: 2019-03-11 21:08:03 -0500

Seen: 1,600 times

Last updated: Mar 13 '19