QB Robotics qbmove Advanced Kit, User Manual

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90
28 aprile 2021
# Waypoints describe the desired motion trajectory:
# - time [s]: it is mandatory and can be either a single value o
r an interval for which other values hold;
# - end_effector [m]: a three-element list of [x, y, z] coordin
ates for the delta end-effector position;
# - joint_stiffness [0,1]: a three-element list of stiffness va
lues, one for each of the three upper motors;
# - gripper: a two-element list containing the shaft position [
rad] and the stiffness value [0,1] of the gripper.
#
# Whenever these are not present in the Parameter Server, it is a
ssigned the last available value.
waypoints:
- time: [1.0]
joint_stiffness: [0.75, 0.75, 0.75]
end_effector: [0.0, 0.0, 0.15]
gripper: [0.0, 0.5]
-
time: [3.0, 4.0]
# stiffness is not changed in this case
end_effector: [0.0, 0.07, 0.15]
gripper: [0.0, 0.5]
-
time: [5.0]
joint_stiffness: [0.5, 0.5, 0.5]
end_effector: [0.0, 0.07, 0.15]
gripper: [1.0, 0.5]
-
...
To use this control mode, you have to set the optional argument
use_waypoint
to true ,
for example:
roslaunch qb_chain_control <
robot_config
>_control.launch standal
one:=true activate_on_initialization:=true use_waypoints:=true
IMPORTANT
Delta configuration is the only kinematic structure that has an offset in the
end-effector position when the waypoints mode control is selected. This
has been set for convenience in programming.
3. Using interactive markers