# How to calculate points for an ABB robot joint path and display the trajectory based on start and end positions?

Hi everyone,

I work with ABB articulated robot arms connected to external axes.

For its programming, a custom software in C# was developed. The inverse and normal kinematics are already implemented in the software.

The next step is to make the software calculate the joint path (MoveJ/MoveAbsJ) of the robot and simulate it, so for this reason I'm searching for some kind of DLL where the start / end positions can be sent and a list of points given back (with robot axis values) where the robot will pass during the movement.

I wonder if this problem may be solved using MoveIt, and/or if the mathematics for the path calculation can be visualized, as I believe it is only a fragment of what developers do with the collision avoidance.

Thanks, Gil

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I'm sorry, but this does not seem like it is a question related to ROS. ROS Answers is not a general robotics forum, but one dedicated to ROS.

I would advise you to post this on a more suitable forum.

( 2020-03-09 03:07:13 -0500 )edit

Hello,

My post is regarding the general problem and how to possibly use MoveIt! to help me solve it, so that's how it would be related with ROS.

Thank you

( 2020-03-09 03:27:51 -0500 )edit

Also: please clearly describe what sort of functionality you are looking for.

From:

The next step is to make the software calculate the joint path (MoveJ/MoveAbsJ) of the robot and simulate it, so for this reason I'm searching for some kind of DLL where the start / end positions can be sent and a list of points given back (with robot axis values) where the robot will pass during the movement.

it sounds like you are looking for a component which can essentially do path planning for you. Is that correct?

( 2020-03-09 03:31:22 -0500 )edit

I edited the post and hope it is as needed, thank you.

( 2020-03-09 03:40:08 -0500 )edit

Yes, it is essentially correct, so what MoveIt would do without necessarily performing collision avoidance.

( 2020-03-09 03:41:28 -0500 )edit

Is there something wrong?

( 2020-03-09 05:23:54 -0500 )edit