Hello guys,
I'm currently working on a ABB robot (IRB140) which should fulfill following task:
It should balance a ball on a tray. This means I have to stream the latest position in Z-direction which the robot should take place in. X,Y and the Orientation always stays the same, only Z varies.
Which would be the right approach in Moveit? Cartesian Path with waypoints? Normal planning but with Asyncmove? Problem is: Imagine the robot is on its way from z=0 to z= -0.5. But then the vision system says it should go to z= +0.5. Then it would be necessery that the robot reverses immediately and ignores the old goal z= -0.5.
Regards and thank you very much for your help!
Timo
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