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tyty
Posts: 17 Apprentice
velocity control problem |
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Currently, I'm trying to control the position as well as the velocity of the UR. I have recorded a path as the desire path and try to repeat the path by my controller. My question is:
1) If use MoveL, the velocity should be a single value. However, according to my recorded data, the velocity is a 6*1 vector. How to set the velocity for MoveL?
2) Since MoveL cannot guarantee a smooth movement, I'm also trying to use servoL and speedL. Seems servoL cannot control velocity. By using speedL, if I introduce the recorded velocity, can I repeat the desire path? I'm still struggling with programming with speedL, but doubt it as there is no position information introduced with this command.
Thanks in advance.
1) If use MoveL, the velocity should be a single value. However, according to my recorded data, the velocity is a 6*1 vector. How to set the velocity for MoveL?
2) Since MoveL cannot guarantee a smooth movement, I'm also trying to use servoL and speedL. Seems servoL cannot control velocity. By using speedL, if I introduce the recorded velocity, can I repeat the desire path? I'm still struggling with programming with speedL, but doubt it as there is no position information introduced with this command.
Thanks in advance.
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Best Answer
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matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
if you have the velocity trajectory at each time slice, feeding that back into a speedL command should give you the motion that you recorded since the speedL takes a vector as its parameter which has both velocity and direction in it. I would give it a try, set the speed slider down before you try so that if it does not give you the desired behavior you are running slower than commanded
Comments
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tyty Posts: 17 Apprentice
@matthewd92 Thank you. I have got the speed vector at each slice,I will try with speedL. Meanwhile, if you have a better solution for my current application, please let me know.0 · TwitterFacebook -
tyty Posts: 17 Apprentice
@matthewd92 I'm still struggling with the program. Please can you see what cause this error?0 · TwitterFacebook -
tyty Posts: 17 Apprentice
Or anyone knows how to fix this? Thanks in advance.0 · TwitterFacebook -
matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
How did you create the variable tmp? The error states you created it as a list and are now trying to insert a pose into it.0 · TwitterFacebook -
tyty Posts: 17 Apprentice
0 · TwitterFacebook -
tyty Posts: 17 Apprentice
@matthewd92 Thank you. I have got the speed vector at each slice (every 2ms). I will try with speedL. Meanwhile, if you have a better solution for my current application, please let me know.0 · TwitterFacebook