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Reducing motion of linear track

Hello all,

I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan motion with RRT-Connect and have large translations of slider. For example slider usually moves 1 meter forward and 1 meter back to move around obstacles. I want to reduce this motion and avoid obstacles primary with KUKA. Of course there will be motion of slider but no so large. Can I set weight of this DOF for minimization translational motion? How can I do it in KDL or TRAC-IK or in planner?

This question in googlegroups: https://mail.google.com/mail/u/0/#inbox/15e0bbd1a0890287

Reducing motion of linear track

Hello all,

Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan motion with RRT-Connect and have large translations of slider. For example slider usually moves 1 meter forward and 1 meter back to move around obstacles. I want to reduce this motion and avoid obstacles primary with KUKA. Of course there will be motion of slider but no so large. Can I set weight of this DOF for minimization translational motion? How can I do it in KDL or TRAC-IK or in planner?

This question in googlegroups: https://mail.google.com/mail/u/0/#inbox/15e0bbd1a0890287

Reducing motion of linear track

Hello all,

Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan motion with RRT-Connect and have large translations of slider. For example slider usually moves 1 meter forward and 1 meter back to move around obstacles. I want to reduce this motion and avoid obstacles primary with KUKA. Of course there will be motion of slider but no not so large. Can I set weight of this DOF for minimization translational motion? How can I do it in KDL or TRAC-IK or in planner?

This question in googlegroups: https://mail.google.com/mail/u/0/#inbox/15e0bbd1a0890287