Move with constant speed & acceleration and no jerk

Technical Questions URScript
1

I want to move from 1 pose to another by moving through intermittent points. I’m not able to do it without any jerks. Can i get some help here?

2

You can use the script command “interpolate_pose” for moving intermittently.

3

Thank you to reply. Now if i have to move from [4,0] to [6,0], via [5,0], it should move via [5,0]. In interpolate_pose, it will interpolate a pose in which in can travel. Can i get help in this case? I have the intermittent points with me

4

Intermittent pose rather

5

Did you try using movep with a appropriate corner blend radius?

6

This is a poorly worded question. How are you controlling the robot? What commands are you using? Please provide steps to reproduce so people can help you.

7

I’m trying to use movel with appropriate blend radius. There are some jerking issues. Trying to solve that. Thank you for your time.

8

Hi,
My objective is to move through different waypoints consecutively. I am using movej with appropriate blend radius. The problem that I am facing is that if I am giving 5 waypoints, the middle waypoints are being ignored and the movement happens through the first waypoint and the last waypoint without passing through the intermittent waypoints. When I give time.sleep(), the robot stops and then the movement occurs. I need this to be smooth. Can I get some help here? I am trying to avoid any kind of jitter while moving through the intermittent waypoints.

9

didi you try MoveP in the midle points?