Real-time tracking and positioning
Hi,
In this blog, I will showcase two investigations that I have conducted to remove the doubt that my code is not the root of the delay issues that I have faced when sending trajectory commands to the robot's controller.
To move the robot to the specified position I am using a function called compute_cartesian_path which computes and executes a plan of waypoints from its current pose to the target pose.
The videos below illustrates a simple tracking of the puck and positions the end-effector to the y-coordinate of the puck. To avoid the robot from jittering, I appended 5 positions of the puck in a list and took the average of the list using mean and weighted average.
As I am taking an average of positions, the robot may not initially exactly move to the puck's position, however, it will move there in the end.
As shown in the videos above, both investigations showcased similar behaviours. There is delay between the end position of the puck and when the robot actually starts moving. I believe its not to do with my code but the robot's motion and how ROS sends trajectories to the robot's controller.
Next week, I will implement my trajectory prediction algorithm, hoping that the algorithm can compensate with the robot's delay.
Immanuel
In this blog, I will showcase two investigations that I have conducted to remove the doubt that my code is not the root of the delay issues that I have faced when sending trajectory commands to the robot's controller.
To move the robot to the specified position I am using a function called compute_cartesian_path which computes and executes a plan of waypoints from its current pose to the target pose.
The videos below illustrates a simple tracking of the puck and positions the end-effector to the y-coordinate of the puck. To avoid the robot from jittering, I appended 5 positions of the puck in a list and took the average of the list using mean and weighted average.
As I am taking an average of positions, the robot may not initially exactly move to the puck's position, however, it will move there in the end.
Tracking and Positioning using a mean average
Tracking and Positioning using a weighted average
As shown in the videos above, both investigations showcased similar behaviours. There is delay between the end position of the puck and when the robot actually starts moving. I believe its not to do with my code but the robot's motion and how ROS sends trajectories to the robot's controller.
Next week, I will implement my trajectory prediction algorithm, hoping that the algorithm can compensate with the robot's delay.
Immanuel
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