I'm currently trying implement path planning and execution of dense cartesian trajectories on fanuc arms. I've had reasonable success planning the path provided that I ignore the specified velocities on the points I'm planning to. I have read some threads which said to modify the duration_from_previous in a robot_trajectory::RobotTrajectory object to achieve different traversal speeds between points in a trajectory. Although this approach works perfectly well in simulation, upon moving the actual arm, I find that the arm only moves at constant velocity. Is there currently any way to adjust movement speed of a real, hardware fanuc arm?
Any input would be greatly appreciated.
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