07-10-2022, 01:57 PM
大家好！
I have created a simulation in which I am monitoring the position, speed and acceleration of the robot's TCP using the 'Monitor_TCP_Speed' script, but the results for speed are very 'dirty', full of spikes that should not be there and strong oscillations. I performed a simple linear movement and the velocity profile (trapezoidal) has considerable oscillations. Unfortunately, nothing changes even by varying various parameters in the settings. I would therefore like to ask you how I can get plots on standard (trapezoidal) velocity profiles accurate, thank you.
I have created a simulation in which I am monitoring the position, speed and acceleration of the robot's TCP using the 'Monitor_TCP_Speed' script, but the results for speed are very 'dirty', full of spikes that should not be there and strong oscillations. I performed a simple linear movement and the velocity profile (trapezoidal) has considerable oscillations. Unfortunately, nothing changes even by varying various parameters in the settings. I would therefore like to ask you how I can get plots on standard (trapezoidal) velocity profiles accurate, thank you.