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How to plan and execute movement in one direction?

asked 2020-05-15 07:04:35 -0500

whitecatshiro gravatar image

I'm trying to move my end-effector in just the direction of the red arrow on the interactive marker. When I've determined my goal position (which is just in a linear direction of the red arrow of the interactive marker) the execution of this goal seems to just get the robot arm into the goal position meaning it curves a little bit in the path to get the end-effector where it needs to be, rather than just moving linearly in the direction of the red arrow similar to how I did it when I manually move the arm itself.

I want to do this because I'm moving my robot arm into a planned trajectory for drilling, then i execute the drilling path which should move the robot end-effector in a linear direction to drill into a spine, and I dont want the execution of my drilling path to curve otherwise there would be obvious issues with the drilling of this hole.

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answered 2020-05-15 07:14:42 -0500

gvdhoorn gravatar image

the execution of this goal seems to just get the robot arm into the goal position meaning it curves a little bit in the path to get the end-effector where it needs to be

that's because it's only linearly interpolating in joint space, which leads to curved paths in Cartesian space.

I want to do this because I'm moving my robot arm into a planned trajectory for drilling

you'll want to use computeCartesianPath(..). Or use something like wiki/pilz_industrial_motion, which supports planning linear motions (but note: this is really "just" linear interpolation. It is not planning as MoveIt normally plans).

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would this only be possible to do if I'm using the move_group_python_interface.py source code to move and plan my robot as opposed to moving the interactive marker and planning/executing in moveit?

whitecatshiro gravatar image whitecatshiro  ( 2020-05-15 22:43:29 -0500 )edit

Also, if this is the case, how would I go about doing this?

whitecatshiro gravatar image whitecatshiro  ( 2020-05-16 03:56:09 -0500 )edit

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Asked: 2020-05-15 07:04:35 -0500

Seen: 17 times

Last updated: May 15