Cartesian velocity constraints #402
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Is there a way to constrain the Cartesian velocity of the TCP in some way? I'm trying to plan a motion where the tool needs to travel at a constant speed across the workpiece, however so far I have been unable to find an obvious way to do this. I'd appreciate any advice/pointers to similar examples. |
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Replies: 2 comments 2 replies
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I believe there is an implementation of this available in the |
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Thank you! This is exactly what I was looking for. |
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@Levi-Armstrong what do you think about adding this to core tesseract? |
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This has been on my to-do list for a little while. It seems to work reasonably well, but probably needs a review to make sure everything is computed correctly. The only bug that I know about currently is that it doesn't work with trajectories of kinematic trees, specifically robot with external positioner |
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I believe there is an implementation of this available in the
ros-industrial-consortium/scan_n_plan_workshop(contributed in/by ros-industrial-consortium/scan_n_plan_workshop#28).