08-31-2020, 09:36
Hi,
I implemented a test in my software to try a few trajectory before telling to the robot which one to take.
Everything seems to works but I have a problem, it take approximately 480 ms every time I to aMoveL_Test, I don't know why it is this slow, I only have one robot with no tool, the MoveL is 10 cm long, I don't even have the collision enabled.
Is it possible to speed this up ? I only need to test the reach + singularity on the moveL.
I could discretize and test SolveIK for each cm, but I would need to see the Jacobian to be sure I don't have any singularities. How should I do that ? Or any other fast way to try that ? I can't have more than ~20ms of delay.
Thanks
I implemented a test in my software to try a few trajectory before telling to the robot which one to take.
Everything seems to works but I have a problem, it take approximately 480 ms every time I to aMoveL_Test, I don't know why it is this slow, I only have one robot with no tool, the MoveL is 10 cm long, I don't even have the collision enabled.
Is it possible to speed this up ? I only need to test the reach + singularity on the moveL.
I could discretize and test SolveIK for each cm, but I would need to see the Jacobian to be sure I don't have any singularities. How should I do that ? Or any other fast way to try that ? I can't have more than ~20ms of delay.
Thanks