UR10e movement from MoveIt is not smooth

asked 2019-04-04 03:37:08 -0500

updated 2019-04-04 03:39:25 -0500

A partner of us is using a new UR10e robot. They use ur_modern_driver (kinetic-devel) to use the robot with ROS. When they use the RViz plugin to plan a trajectory using MoveIt, the resulting trajectory looks ok in the visualisation. However, when the robot executes the trajectory, it stops at every waypoint. There are 10 waypoints in a plan, so the movement looks clumsy. Moreover, they had to decrease the velocity and acceleration scaling. Otherwise, the movement resulted in the robot to go in safety stop.

The log files show that a list of movej commands is sent to the robot. It looks like the t and/or r parameters are not correct for the robot (r is 0 and t is probably to high). We don't have much experience with this robot. Do we have to tune these parameters to get a smooth trajectory? Is is possible to do this using the RViz plugin? Are there default settings for a UR10e? Should we create the trajectory in a different way?

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Comments

The e-series are officially not supported yet by ur_modern_driver. That is partly why Universal Robots started the development of a new driver.

If you post your issue on the issue tracker of ur_modern_driver, it may be that some of the other users that try to use it with e-series robots could help.

gvdhoorn gravatar imagegvdhoorn ( 2019-04-04 04:57:27 -0500 )edit