Final Year Project - Robot plays air hockey

Hi, After playing around with the speed of the ABB, I wanted to find out what is still causing the delay between the point that the puck is moving towards the robot, trajectory prediction, the time of sending commands to the move_group node and to when the robot actually reaches that position. Below are my results from the investigation of five samplings. Testing Results As shown in the results, the robot reaches the predicted position an average of 1241.88ms after the puck is moving towards the robot. One possible cause for the initial delay of the robot's motion is having low computer performance which could slow down the process of finding a plan to perform on the robot. To remove doubt of the computer's performance, I did the same test but without running RViz as the simulator used almost 40% of the CPU. However, the results returned similar behaviour and averaged 1263.69ms from the time that the puck is moving towards the puck and the time when the robot actual

Hi, This week, I managed to increase the speed of the robot by switching parameters: has_velocity_limits and has_acceleration_limits to true within the joint_limits.yaml file that MoveIt! creates. The speed of the robot's joints can also be increased through this file. The image below shows the default yaml file. Default joint_limits.yaml I tested different velocity and acceleration to reduce the duration of the trajectory. I used values of 10, 15 and 20 within max_velocity and max_acceleration which reduced the duration of trajectories from 650ms with the default setting to an average of 350ms. I decided not to increase the speed further as it showed no difference in terms of successfully hitting the puck. Below are two videos to show the differences of the robot's speed from the default settings to turning off each of the joint's velocity and acceleration. Limited joint velocities & acceleration  Customised joint velocities & acceleration