Hi,
I am currently working on a robot application and would like to smooth some motions.
I already tried to used the setBlendingRel(…) and the setBlendingCart(…) command.
The problem is that in some cases I still have an exact positioning between two motions.
e. g. in the following example I am trying to approach a point (in z-direction) and reduce the velocity:
gripper.move(lin(new Frame(offsetFrame, Transformation.ofDeg(0, 0, 100, 45, 0, 0))).setJointVelocityRel(0.7));
gripper.move(lin(new Frame(offsetFrame, Transformation.ofDeg(0, 0, 1, 45, 0, 0))).setJointVelocityRel(0.2));
Now the problem is that I get an exact positioning (robot stops for a short time) between the two motions. I already tried to use the setBlending command, but I still have a short stop between the two motions.
How can I manage to get a smooth and continous motion between the two commands?
What are the other possibilities (e. g. SmartServo, Spline, moveAsync, MotionBatch ...) for smoothing motions?
Thank you.
- robotneuling