how to create a smooth trajectory for manipulator?

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jianye
Posts: 46
Joined: 16 Oct 2019, 13:58

how to create a smooth trajectory for manipulator?

Post by jianye »

hello,

I'm trying to do motion planning with my 7-DoF manipulator. And I have already the path information in configuration space from path planner.

I want to ask is there a method I can use to generate a smooth trajectory with path information? I've tried with rml Library, but I can only get the different velocity with every path segment.

bests,
Jian

coppelia
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Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: how to create a smooth trajectory for manipulator?

Post by coppelia »

Hello,

what exactly do you mean with smooth trajectory? You can smooth the path itself via various techniques, but then your robot won't follow the exact same path, which could lead to collisions, etc. The difficulty in that task resides in keeping the path still valid while smoothing.
But I guess you probably want to smooth the velocity profile of your trajectory (e.g. start with a constant acceleration, and end with a constant deceleration). In that case, have a look at this post.

Cheers

Hrithik Verma
Posts: 22
Joined: 07 Sep 2020, 21:20
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Re: how to create a smooth trajectory for manipulator?

Post by Hrithik Verma »

There are many method like rml , Ompl , inverse kinematic method.
But i tried a simple technique to use inverse kinematic method and make a path for end effector to follow . In this way i was able make a writing robot . Check out the scene : https://github.com/Hrithik-verma/V-REP- ... -robot-arm
this scene simulation outcome video: https://youtu.be/oLMUcrrTdvE

Sml, inverse kinematic method - available in CoppeliaSim software scenes check them out
Ompl method - https://github.com/CoppeliaRobotics/sim ... r/examples

if you face any difficulty in understand Lua code than simple use print() to see the stuff inside it and also check related regular Api function and its parameters. If you do not understand parameters than please learn some basic of Lua language.

Still you face any problem than you can contact me.

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