Implementation of time parameterization to limit tool speed?
I need to limit the speed of the end-of-arm tool of a robot (HC-10). I can already limit joint speeds, but to ensure that the tool speed is below the limit, the joint speeds must be made overly conservative, resulting in consistently slow robot motions.
Are there any existing packages or tools for time parameterization that take a joint trajectory, a robot model, and a tool speed limit, and do the forward kinematics and interpolation needed to meet the tool speed constraint?
Since you mention MoveIt and "time parameterisation" (MoveIt terminology): have you seen ros-planning/moveit/pull/2856?
I hadn't seen that, thanks for pointing it out, it seems to be pretty much what I was hoping for!