Our top priority

We are as proud of our service as we are of our robots.

Forgot your password?
Register

Splash Forums Development Ubuntu APIs Jaco² Trajectory accuracy

This topic contains 3 replies, has 2 voices, and was last updated by  Hugo Lamontagne 2 years, 4 months ago.

Viewing 4 posts - 1 through 4 (of 4 total)
  • Author
    Posts
  • #1649

    Anonymous

    Hello Kinova !,

    I’m currently working with the Jaco² on Linux (Ubuntu 14.04) with angular position.

    When i’m sending some positions with the function “SendAdvanceTrajectory” (5 positions most of the time), the robot stop (for less than half a second) between every position.
    While when i’m using Development Center to program the same path, the robot don’t stop between the position.
    It seem like the position accuracy while using “SendAdvanceTrajectory” it way greater than using Development Center.

    Is there some way to “ease” the path or program the accuracy of the actuator ?

    Here is an extract of my code (I receive one ROS message by position) :

    void callback(std_msgs::Float64MultiArray array){

    //Building a trajectory point
    TrajectoryPoint point;
    point.InitStruct();
    memset(&point, 0, sizeof(point)); // zero structure

    //If its the first message in a path
    if(array.layout.dim[0].stride == 0){
    //we begin a new path
    eraseAllTrajectories();
    }
    point.Position.Actuators.Actuator1 = array.data[0]*(180/3.1415926);
    point.Position.Actuators.Actuator2 = array.data[1]*(180/3.1415926);
    point.Position.Actuators.Actuator3 = array.data[2]*(180/3.1415926);
    point.Position.Actuators.Actuator4 = array.data[3]*(180/3.1415926);
    point.Position.Actuators.Actuator5 = array.data[4]*(180/3.1415926);
    point.Position.Actuators.Actuator6 = array.data[5]*(180/3.1415926);
    point.Position.Type = ANGULAR_POSITION;
    point.Position.HandMode = HAND_NOMOVEMENT;

    sendAdvanceTrajectory(point);

    }

    #1674

    Hugo Lamontagne
    Participant

    Hi LMathieu,

    Could you try the same code but instead of using SendAdvanceTrajectory, try with SendBasicTrajectory.

    Keep me posted,

    Hugo

    #1693

    Anonymous

    Hello,

    Sorry for the late answer.

    I tried with the SendBasicTrajectory, but I didn’t see any change.
    This kind of behavior doesn’t appear on Cartesian movement, so I used it 🙂

    thanks for the answer !

    Best regards,
    Mathieu.

    #1695

    Hugo Lamontagne
    Participant

    Very glad to hear that. 🙂

    Don’t hesitate if you have any other question.

    Have a nice day,

    Hugo

Viewing 4 posts - 1 through 4 (of 4 total)

You must be logged in to reply to this topic.

Trending now

News & Events

Kinova’s Vice President of Medical Robotics, Appointed to 2 Boards, 2 Committees

2018 is bound to be a busy year for Kinova’s own Stuart Kozlick. In 2017, Stuart has been appointed to sit on four prestigious committees and boards, effectively positioning Kinova among key industry thought leaders. These strategic partnerships will allow Kinova to accelerate the adoption of new technologies within the healthcare system and encourage alignment within the industry, healthcare communities and governments facilitating accessibilities and communities.

Read more
Humans & Robots

THE NEW NORMAL: UPROOTING ASSISTIVE NORMS in 2018

A new year is a time for new beginnings and starting things afresh. In the spirit of making a change, there’s a specific paradigm that needs to be addressed, or, as many in the industry would say, “disrupted.” Consider 2018 the year of “The New Normal” for the Assistive market. The New Normal is a term coined by our colleague, Abe Clark, in the United States.

Read more
Expert Talk

STEERING TOWARDS CO-CREATION, COLLABORATION, AND INNOVATION – #KINOVAONTHEROAD in 2018

My objective at Kinova is to build bridges between people, businesses, educational organizations, and governments to effectively fuel the cycle of innovation. Unsurprisingly, that means hopping on a plane and going to find the best people in the world to exchange with. This is why the concept of Steering Committees as I came to realize is, and will increasingly be, vital.

Read more