How to reorient the Gripper using the robot joints to pick up?
Posted: 18 Nov 2022, 23:15
Hi All
I use the trajectory planning + Joint Velocity (gained from inverse differential kinematics) application over the distance intervals among the waypoints to get to the desired target point in my model.
There are 2 problems : The trajectory is not very nice : unstable velocity, high accelerations or jerk in the start point or in turning points.
2- The robot poses in an arbitrary orientation in the target point. so as you see in the following image, it can not pick the box up.
So my questions are : 1- How can I improve the trajectory? 2- What is the strategy to be able to reorient the Gripper : the Gripper is prismatic, and I have to use one of the Joints of the robot to turn. Please if possible mention it with coding.
https://tinypic.host/i/gripperorint.yv4ae
Why can't I upload images here?
I use the trajectory planning + Joint Velocity (gained from inverse differential kinematics) application over the distance intervals among the waypoints to get to the desired target point in my model.
There are 2 problems : The trajectory is not very nice : unstable velocity, high accelerations or jerk in the start point or in turning points.
2- The robot poses in an arbitrary orientation in the target point. so as you see in the following image, it can not pick the box up.
So my questions are : 1- How can I improve the trajectory? 2- What is the strategy to be able to reorient the Gripper : the Gripper is prismatic, and I have to use one of the Joints of the robot to turn. Please if possible mention it with coding.
https://tinypic.host/i/gripperorint.yv4ae
Why can't I upload images here?