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Small movements using moveit

asked 2020-05-16 05:58:30 -0500

nihalar gravatar image

Hello All,

Hope everyone is doing well.

I want my robot (ur5) arm end effector to move small distances (max 5cm at a time) as fast as possible (near realtime). What would be the recommended way to do? computeCartesianPath? or other planners like OMPL?

Could someone guide me on what type of planning (maybe no planning? ) would be requried in my case for fastest possible movement?

Thank You :)

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See whether jog_arm covers your requirements.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-16 06:26:41 -0500 )edit

Could you explain your requirements more? How fast do you need the robot to move, does the size of the motion change on the fly, and what is the objective?

fvd gravatar image fvd  ( 2020-05-18 01:31:12 -0500 )edit

The objective is using ur5 for surgery research. ur5 will be fitted with a scope camera (end effector) and will be inserted to patient body through a small incision point. The surgeon will use a headtracker and based on the movement of the his head, the end effector (scope) of the robot will move.

nihalar gravatar image nihalar  ( 2020-05-18 12:42:46 -0500 )edit

All in simulation .. right .. ? This is not something you should/would be using ROS 1 for.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-18 13:16:57 -0500 )edit

We will be using real ur5 robot (not only simulation). This cannot be done using ROS?

nihalar gravatar image nihalar  ( 2020-05-19 06:12:51 -0500 )edit

We will be using real ur5 robot. This cannot be done using ROS?

That's not what I wrote.

I see mention of "a patient's body" and "surgery". While I see the benefits that robotics can bring in general, my experience with the components involved leads me to comment here that without extensive experience with them, I would not recommend to include them in a robotic system intended for the kinds of applications you describe.

Very complex applications have been created with ROS (both ROS 1 and ROS 2), but there are applications and uses where a little extra care must be taken to prevent unexpected or catastrophic failure.

If you have taken that care, or you are sufficiently experienced to be able to judge whether what you are intending to do is safe, both with the robot you intend to use and the software, then my comment would ...(more)

gvdhoorn gravatar image gvdhoorn  ( 2020-05-19 06:21:16 -0500 )edit

This is part of master dissertation, so it wont be actually be used in real life surgeries (unless we get enough funds and support lol ). We will be using dummy body as the patient body. Currently we are not sure what type of planning needs to be used in order to move the robot based on the input given by the headtracker. Any other suggestions (My group mate is looking through jog arm package)?

nihalar gravatar image nihalar  ( 2020-05-19 06:29:59 -0500 )edit

This is part of master dissertation, so it wont be actually be used in real life surgeries

you've only now added this here. This was not clear from your previous descriptions.

gvdhoorn gravatar image gvdhoorn  ( 2020-05-19 06:37:12 -0500 )edit

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answered 2020-05-17 16:26:17 -0500

inaciose gravatar image

updated 2020-05-17 16:26:37 -0500

I belive that this answer may help you! https://answers.ros.org/question/2281...

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Asked: 2020-05-16 05:58:30 -0500

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Last updated: May 17 '20