Re: Trajectory generation (Problem)

On Thu, 4 May 2006, H.S. Randhawa wrote:

> I want to move my manipulator arm through various points and for that I
> defined the points (frames) in program.ops file.
> During run time,  I am getting the joint positions and joint velocities
> corresponding to those points.
> I want transmit these joint position values corresponding to each point to
> serial port but I am able to get the values corresponding to only last point
> to serial port.
> That is my problem is how to control the script file?  Once the script file
> start I can not stop it after getting first point and then next and so on.
> How can I put some condition so that after getting first point I send the
> corresponding joint postion values to serial port and same for the rest
> points.
>
It seems that you need the "finite state machine" functionality of Orocos
(also available in scripting):
<http://people.mech.kuleuven.be/~psoetens/orocos/doc/orocos-components-manual.html#id2613416>

Herman

--
   K.U.Leuven, Mechanical Eng.,  Mechatronics & Robotics Research Group
     <http://people.mech.kuleuven.be/~bruyninc> Tel: +32 16 322480

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