Random joint limits, microstepping

This commit is contained in:
Thomas Muller 2021-09-24 20:07:16 +00:00
parent 919b8c203c
commit 8306b75921
4 changed files with 52 additions and 4 deletions

View file

@ -0,0 +1,40 @@
joint_limits:
joint1:
has_velocity_limits: true
max_velocity: 40.1750
has_acceleration_limits: true
max_acceleration: 50.75
joint2:
has_velocity_limits: true
max_velocity: 40.1750
has_acceleration_limits: true
max_acceleration: 30.875
joint3:
has_velocity_limits: true
max_velocity: 40.1750
has_acceleration_limits: true
max_acceleration: 40.5
joint4:
has_velocity_limits: true
max_velocity: 40.1750
has_acceleration_limits: true
max_acceleration: 50.125
joint5:
has_velocity_limits: true
max_velocity: 40.6100
has_acceleration_limits: true
max_acceleration: 50.75
joint6:
has_velocity_limits: true
max_velocity: 40.6100
has_acceleration_limits: true
max_acceleration: 70.0
cartesian_limits:
max_trans_vel: 10
max_trans_acc: 20.25
max_trans_dec: -50
max_rot_vel: 10.57
default_acceleration_scaling_factor: 1.0
default_velocity_scaling_factor: 1.0

View file

@ -76,6 +76,7 @@ def generate_launch_description():
get_yaml(join(config_root, 'trajectory.yaml')),
get_yaml(join(config_root, 'planning_scene.yaml')),
get_yaml(join(config_root, "ar3_controllers.yaml")),
get_yaml(join(config_root, "joint_limits.yaml")),
],
),

View file

@ -92,6 +92,7 @@
link="link_1" />
<axis
xyz="0 0 1" />
<limit effort="0" velocity="-20.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="link_2">
@ -145,6 +146,7 @@
link="link_2" />
<axis
xyz="0 0 -1" />
<limit effort="0" velocity="20.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="link_3">
@ -198,6 +200,7 @@
link="link_3" />
<axis
xyz="0 0 -1" />
<limit effort="0" velocity="200.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="link_4">
@ -251,6 +254,7 @@
link="link_4" />
<axis
xyz="0 0 -1" />
<limit effort="0" velocity="20.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="link_5">
@ -304,6 +308,7 @@
link="link_5" />
<axis
xyz="-1 0 0" />
<limit effort="0" velocity="20.0" lower="-3.14" upper="3.14" />
</joint>
<link
name="link_6">
@ -357,6 +362,7 @@
link="link_6" />
<axis
xyz="0 0 1" />
<limit effort="0" velocity="20.0" lower="-3.14" upper="3.14" />
</joint>

View file

@ -46,11 +46,11 @@ class CobotMove(Node):
print(self._serial.readline())
def _move_j1_cb(self, msg):
self._cur[0] = int(msg.data / pi / 2. * 8000)
self._cur[0] = int(msg.data / pi / 2. * 8000 * 4)
self._move_servo()
def _move_j2_cb(self, msg):
self._cur[1] = int(msg.data / pi / 2. * 10000)
self._cur[1] = int(msg.data / pi / 2. * 10000 * 4)
self._move_servo()
def _move_j3_cb(self, msg):
@ -74,10 +74,11 @@ class CobotMove(Node):
line = self._serial.readline().decode('UTF-8')
# print(line)
blocks = re.findall(r'[ABCDEF]-*\d+', line)
a = float(blocks[0][1:]) / 2000. * pi * 2.
b = float(blocks[1][1:]) / 3840.64 * pi * 2.
a = float(blocks[0][1:]) / 8000. / 4. * pi * 2.
b = float(blocks[1][1:]) / 10000. / 4. * pi * 2.
c = float(blocks[2][1:]) / 10000. * pi * 2.
d = float(blocks[3][1:]) / 2000. * pi * 2.
e = float(blocks[4][1:]) / 2000. * pi * 2.