smooth trajectory point to point

asked 2019-07-02 20:29:39 -0500

nguyentuMTA gravatar image

I have a 6 dof manipulator I can using compute_ik service to solve inverse kinematic the problem is when go point to point I want it to stop when reach the point but in my case the arm jerking I want a smooth trajectory between 2 point with all joint are servos. How can I do that? Is there any built-in function to help the task like that thanks in advance

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