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UR5 movej to move through many points without stopping at each
#1
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!
#2
Hi CGP,

This project looks interesting!

You should include a rounding/blending parameter to your motion. The rounding/blending parameter will prevent the robot from stopping at every point.
You can find the rounding instruction in the main menu -> Program -> Set rounding Instruction.

One more thing, make sure to implement a "minimum distance between each point" validation in your algorithm.
You don't want to feed points that have a relative distance of less than the minimum increment of the robot (smallest movement the robot can do).
The rounding can also affect the minimum distance. (Most likely towards a bigger value.)

Let me know if it works.
Jeremy
#3
Thanks Jeremy,

As I am using the python API, the main menu -> Program -> Set rounding Instruction doesn't quite work for me. However, that did lead me to find the robolink.setRounding() function that does do what I want.

Thanks,
Chris
#4
Hi Chris,

I just reread your post and I missed that API part... Oups!
Glade you found the solution on your own.

Jeremy
  




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