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Is there a way to change the velocity of moveit cartesian path planner?

asked 2019-07-02 02:51:29 -0600

lr_k123 gravatar image


I want to move the end-effector of my ur5 robot in a small circle with radius of 2 cm. With the moveit cartesian path planner this works, however it is way to slow for it to be used for my project. Is there a way I can speed up the robot so it makes faster circles?

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answered 2021-07-09 08:33:44 -0600

You can post-process your planned trajectory to have time parameterization. You can find the detailed description here link text

You can also try using Descartes planner, you will be able to specify the timing constraint for your set of points.

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Asked: 2019-07-02 02:51:29 -0600

Seen: 386 times

Last updated: Jul 09 '21