Hi,
I am using Panda research with systemversion 3.0 libfranka 0.6.0 and ros Kinetic on Ubuntu 16.04 +4.14.12-rt10 rt patch.
To actually move the robot I use the moveit python interface and the command “computeCartesianPath”.
I want to move the robot in a smooth way along a curve, but even with a high number of sample points there is stutter in the motion. The script that I am using distributes equidistant points on a nurbs curve then uses those points for "cartesian path".The reason for the stutter, I think, is, that there can not be a smooth motion with straight line segments that are not collinear.
**How can I achieve a smoother motion trough set points using the moveit phyton interface?**
possible things that could work but I don’t know exactly:
[smoothing filter](http://emanual.robotis.com/docs/en/popup/how_to_set_smoothing_filter/)
[chomp planner](https://ros-planning.github.io/moveit_tutorials/doc/chomp_planner/chomp_planner_tutorial.html)
many thanks for any answer/ advice!
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