Dynamic trajectory planning for target change

asked 2023-03-15 02:42:23 -0500

577478126 gravatar image

Hello,may I ask if there are any ready-made function packs available for dynamic trajectory planning of the six-degree-of-freedom manipulator when the target three-dimensional point keeps changing?Or is there a similar feature pack available for code rewriting?

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quick note: I've seen this done using vanilla MoveIt and the JointTrajectoryController from ros_control. The latter supports online trajectory replacement with smooth interpolation between trajectories.

Whether it'll be sufficient for your use-case I would not know.

Nowadays, MoveIt Servo might also be an option, but again it would depend on what you actually want / need to do.

gvdhoorn gravatar image gvdhoorn  ( 2023-03-15 05:21:12 -0500 )edit

Hello, at present, the role of the upper computer is to send the planned trajectory information to stm32, and stm32 will perform trajectory interpolation and control motor motion. If so, can ros_control be used?

577478126 gravatar image 577478126  ( 2023-04-04 07:59:30 -0500 )edit
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