Trajectories

alessandro.podrecca

Hi everybody,<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

I have a problem that I wish to solve. I try to explain it as best as possible

 

My robot has to follow a path, a spline for instance, generated on-line on a PC. I would send this information from PC to IRC5 (by means of Robot Reference Interface? May it works?) in order to guarantee movements as natual as possible. Doubts arise on how to move the robot: I wouldn?_Tt like to use MoveJ but I prefer to act on a lower level, possibly directly on the trajectory references, in order to avoid the fitting introduced by IRC5's path planner and impose it a my own.

 

I'm quite confident that it could be possible, has anybody got experience in such a problem or something similar?

 

any idea is welcome

 

thank you very much in advance

 

Alessandro Podrecca