Pick and place Task Space trajectory is glitching?

I'm trying to model a pick and place robot, it will follow the path smoothly for the first movement then i try to get the robot to move again and it glitches around and doesn't connect to the original path.

Answer 1

[Abhinaya Kennedy]

Hi Samuel,

The script aims to simulate a pick-and-place operation using a UR5e robot, moving its end effector from one position to another in two steps. However, you may encounter glitches due to:

1. Plot Persistence: Using “show(robot,configNow,'PreservePlot',false,'Frames','off');” animates the robot's movement, but refreshing or overlapping commands might cause visual glitches.
2. Trajectory Continuity: The script computes two separate trajectories without ensuring a smooth transition between them. This discontinuity could result in abrupt jumps in the robot's position from the end of the first movement to the beginning of the second.

To address these, ensure the end configuration of the first movement seamlessly transitions as the start for the second, avoiding sudden position changes. Debugging print statements or plotting intermediate states can help understand where the discontinuity occurs.

Hope this helps!