How to set robot cartesian velocity

asked 2020-03-27 08:10:48 -0600

tom94 gravatar image

updated 2022-03-20 09:59:40 -0600

lucasw gravatar image


I'm building 6-axis 3d printer. At this moment, i can send g-code to the robot, robot is following the trajectory in RViz and in real time.

Now i'm trying to find a way how to set velocity parameters, so i can set the robot to move in constant speed and straight line between the points, using velocity parameters i define. I'm planning the trajectory using Descartes.

I'm using: Ubuntu 18.04 and ROS Melodic.

Moveit and Descartes.

Staubli TX40 robot with cs8 controller.

Here is a github link to my project.

What options do i have, and how others do it? I found that when i'm changing "delta time used to get to next pose" here, it affects speed of the movement. Maybe it is related to the solution? I tested this only using RViz at the moment.

Thank you!

Edit: Probably solved. I will post a new link how i did it later.

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The short version is: obtain the cartesian path from Descartes and retime the trajectory with your desired velocity parameters. Looking forward to your more detailed answer.

fvd gravatar image fvd  ( 2020-04-01 20:58:10 -0600 )edit

Thank you for the answer! In my case, i used distance formula, and used it here.

tom94 gravatar image tom94  ( 2020-04-03 09:35:16 -0600 )edit