08-13-2019, 01:29 AM

Hi,

With a UR5 (CB3 controller), is there a way to servo the joints (using MoveJ, or similar) from the python API through a large number of joint positions, without the robot stopping at each point?

I teach a class in robotics and would like the students to implement a form of resolved motion rate control using the inverse Jacobian. I would expect them to develop code for the Jacobian (either in python or Matlab, offline), to calculate a series of required joint angles to effect a trajectory for the end-effector. They would determine an k x 6 matrix to move through k points in joint space (where k might consist of approximately 100 points/move). If I do this using a MoveJ in a loop, the robot briefly stops at each point, making the motion fairly jerky. Is there any way to get it to smoothly move through these (or approximately these) points?

Any help or suggestions would be appreciated.

Thanks!

With a UR5 (CB3 controller), is there a way to servo the joints (using MoveJ, or similar) from the python API through a large number of joint positions, without the robot stopping at each point?

I teach a class in robotics and would like the students to implement a form of resolved motion rate control using the inverse Jacobian. I would expect them to develop code for the Jacobian (either in python or Matlab, offline), to calculate a series of required joint angles to effect a trajectory for the end-effector. They would determine an k x 6 matrix to move through k points in joint space (where k might consist of approximately 100 points/move). If I do this using a MoveJ in a loop, the robot briefly stops at each point, making the motion fairly jerky. Is there any way to get it to smoothly move through these (or approximately these) points?

Any help or suggestions would be appreciated.

Thanks!