Dear all,
I'm Loris Roveda, researcher of STIIMA-CNR.
I'm controlling the KUKA iiwa robot using FRI.
I'm able to move the robot but I'm wondering how to continuously adapt the robot position without using the PositionHold command (because I would try to integrate FRI with the iiwa stack functionalities and I would avoid to use such command because it causes a robot stack in that motion).
In particular, I'm trying to do this:
while ("condition_to_end_motion")
{
_lbr.moveAsync(ptp("start_position")
.setJointVelocityRel(0.7).addMotionOverlay(jointOverlay));
"evaluation of end motion condition"
}
However, the motion is not smooth and motors make a very high noise (like the motor continuously stop and restart).
I'm wondering if adding the blending is going to help or if modifying "ptp("start_position)" to "ptp(LBR.getCurrentJointPosition())" or "LBR.getCommandedJointPosition()".
Considering the blending, probably it can help if the motion remains close to the "start_position", but I'm afraid that if I'm moving the robot to far from the "start_position" the bad behavior is going to appear again.
I'm going to try these solutions out and let you know
Moreover, does anyone know if other conditions for PositionHold command can be created?
Many thanks,
Loris