Joint/Motor Ramp Types - Jerk Free Motion

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Mobaron
Posts: 4
Joined: 02 Sep 2019, 08:43

Joint/Motor Ramp Types - Jerk Free Motion

Post by Mobaron »

Hello,

I am currently working on a simulation which will control a 4 DOF Robotic ARM IRL. I've build the model with IK and PID which works very well.
For various reasons i need a smooth Motion when the motors start and stop moving. Something like a Jerk-Free ramp type.
I've played around with a couple of things to get that kind of working - currently I'm using a small proportional parameter which slowly decreases the speed when the joints reach their target position and wrote a script which gradually increases the Upper velocity limit when the robot starts a new path.
This however brings some disadvantages and feels like a bad solution for this problem.
Might there be something I'm missing?
And if it isn't implemented in some way, what would be the best way to control the joint speed in a IK robot model?

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

Re: Joint/Motor Ramp Types - Jerk Free Motion

Post by coppelia »

Hello,

have a look at following API functions:
Also have a look at the demo scene reflexxesMotionLibraryExamples.ttt

Cheers

Mobaron
Posts: 4
Joined: 02 Sep 2019, 08:43

Re: Joint/Motor Ramp Types - Jerk Free Motion

Post by Mobaron »

Okay, I've rewritten a lot of my Code to be compatible with the reflexxesMotionLibrary and it works better than ever before! Thanks a lot!

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