Non Zero initial velocity in trajectory

asked 2020-08-31 13:44:04 -0600

nihalar gravatar image

updated 2021-04-24 02:35:11 -0600

miura gravatar image

I want to implement a real time trajectory planning for the end effector of a robot. Every time a new target pose arrives (let's call this time an "event"), a new trajectory is planned between the current pose and the target pose, making sure that the initial velocity of the new trajectory is the same as the velocity of the old trajectory at the moment of the event. Therefore, all three velocity components should not change suddenly at the time of the event and the trajectory joint is "smooth".

I want the new trajectories being generated to have non zero initial velocity, in order to make it smooth. I am using moveit cartesian planner to get the trajectory, the trajectories i get with always have zero initial velocity. How would I solve this?

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