Universal Robots Forum

Https://www.universal-robots.com/articles/ur-articles/modify-robot-trajectory-by-overlaying-custom-motion/

https://www.universal-robots.com/articles/ur-articles/modify-robot-trajectory-by-overlaying-custom-motion/

When i am trying to run this, m getting error " path offset: Maximum acceleration exceeded". Does anyone know why this is happening and how to correct this. In short my offsets are not working.

Thanks

Hi,
in the link you post it’s said:

However, attempting to run this program will result in a runtime exception at the very beginning. While sine is a continuous function with continuous derivative (corresponding to continuous position and velocity profiles for the offset), the offset at the very first time step jumps from adding zero velocity, to adding a fairly large velocity (and is thus discontinuous at the first time step).

It is a requirement, that the applied offset is smooth, and does not force jumps in the robot velocity profile. Making a large jump in velocity between one time step and the next, would require accelerations that the robot is unable to produce.

A discontinuous velocity profile can be remedied by smoothly ramping into the sine wave. An easier approach, is to use the URScript function β€œpath_offset_set_alpha_filter()”

Could it be the problem?