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, 7 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

Expert Talk

Hitting the Mark with Marketing: The Do’s and Don’ts of Creating a Message Around Robotics

While robotics companies have been around for decades, the spotlight on the industry has only really intensified in recent years as new technologies become more readily available and more implicated in the lives of humans.

Read more
Expert Talk

For the Greater Good: The Importance of Fulfilling Corporate Social Responsibility

By now, it goes without saying that the cornerstone of Kinova’s DNA is our desire to create products that empower humanity, and that fulfilling our ethical, human and social responsibilities is fundamental to maintaining the core of our culture. Always has been, always will be.

Read more
Expert Talk

FOR ETHICS IN AI, KEEP HUMANS in THE LOOP (UNTIL FURTHER NOTICE.)

As discussions around the advancement of AI evolve, so too do the concerns. And for good reason. Machines are getting smarter and smarter, able to complete complex tasks and process information incredibly fast. But, what happens when the developments in AI move too quickly — and we lose sight of human ethics?

Read more