Hi everyone,
I would like to set cartesian velocities for the smartServo instead of positions, but I didn't find anything in the API, does someone have experience with that?
Thank you in advance,
Lukas
Cartesian velocity control
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lookahs -
October 26, 2018 at 4:38 PM -
Thread is marked as Resolved.
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I don't know what smartservo is but there is an option called enhanced velocity controller that accomplishes what you are looking for.
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SmartServo is an additional module to the RoboticsAPI that allows to do closed-loop cartesian position control.
Where did you find this option "enhanced velocity controller"? I couldn't find it neither in the API nor in the documentation. Would it support closed-loop control (i.e. sending continuously cartesian velocity updates without invoking the breaks of the robot)? -
The 'Operating and Programming Instructions for System Integrators' of the SunriseWorkbench 1.14 contains an entire chapter (17) about the 'KUKA Sunrise.EnhancedVelocityController'.
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Probably only available in v1.14 and up.
Not sure if you can use both SmartServo and EVC in parallel.