SmartServoLIN doesn't avoid the area where the arm can't reach

    I'm using iiwa14 and have a problem. I'd like to move the robot from x,y = A(0, -500) to B(500, 0). When I ran SmartServoLIN and tried to move the robot's tool center point from point A to B, the robot stopped during the operation because the robot entered the area it couldn't reach (the value of axis 4 was nearly the limitation at that time). I thought the SmartServoLIN could handle this simple path planning (just avoiding the area it can't reach), but it didn't and it just crashed. Of course, I can manually set the waypoint, but I don't want to hardcode the waypoint.

    Is there any way to avoid this issue and to move the robot from A to B safely? The attached file describes the situation.

    :help:

    Do you mean SmartServoLIN can't move in the same way?

    In the manual (KUKA_SunriseConnectivity_Servoing), it says PTP and LIN use "Polynomial" for the planning, while SmartServo and SmartServoLIN use "3rd-order polynomial". Is this related to this issue?

    Man, why are you using SmartServoLIN for basic motions?! The connectivity option is made to control the robot from another machine, and not for general motion planning.
    SmartServoLIN's main application is “Visual Servoing”, or camera based collision avoidance, where you should feed the robot with new positions each 20ms via Ethernet from another machine, to avoid obstacles or modify its path.

    What are you looking for is just a Circular motion. Go to your starting frame Point_A first with a PTP

    Code
    robot.move(ptp(getApplicationData().getFrame("/[b]Point_A[/b]")).setJointVelocityRel(velocity));


    The perform a circular motion to B using an auxiliary frame (like in the attached picture.

    Code
    robot.move(circ (getApplicationData().getFrame("/[b]Auxiliary_Point_A[/b]"), getApplicationData().getFrame("/[b]Point_B[/b]")));

    Hi kiiwa, thank you for replying. I was using SmartServoLIN for my remote control application. However, I needed to move from point A to B in some situation before and after I used SmartServoLIN.

    Have you used PtP and SmartServoLIN in the same program (If not, I should look whether it's possible or not)?

    Another question comes up in mind is about the speed and the acceleration. If I create several waypoints (to make a circle trajectory from A to B) for SmartServoLIN, are the speed and the acceleration same as PtP's one-stop motion? Or, is it possible that SmartServoLIN restricts the speed and/or the acceleration? I'm trying to understand the downside of SmartServoLIN.

    Hi

    Quote

    Have you used PtP and SmartServoLIN in the same program (If not, I should look whether it's possible or not)?


    I never used SmartServoLIN, as I didn't need it, but I used PTP before SmartServo , and it worked like a charm. You just need be careful to send the correct starting position' values to the robot.For example, if you start from home position, start sending values that are closer to avoid collisions.

    Quote

    If I create several waypoints (to make a circle trajectory from A to B) for SmartServoLIN, are the speed and the acceleration same as PtP's one-stop motion?


    do you mean to set velocity and accel for each point an not the whole motion?

    Quote

    is it possible that SmartServoLIN restricts the speed and/or the acceleration?


    I don't think SmartServoLIN (or SmartServo )restricts the speed and/or the acceleration, but from my experience, you have to find a sweet spot, where you send a new position just a moment before reaching your set point , otherwise you get that jerking motion of you reach the goal before receiving a new position or you lose a lot of precision as your robot discards its current goal to reach the new one .

    The reason I asked about changing speed/acceleration and restriction is that it seems SmartServoLIN's movement is relatively slow. I wonder how I can improve the speed by changing the speed/acceleration during several motions among waypoints.

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