[ros-users] [Discourse.ros.org] [ROS-Industrial] Path planning with external axis

[Victor Lamoine]

We've been using ROS for additive manufacturing quite a lot in the last months (see https://discourse.ros.org/t/ros-additive-manufacturing-ram/3170).

We are now interested in working on revolution parts; the big difference is that we want to use a 2 axis positioner and combine/synchronise the movement of the position and the robot.

A typical example would be:
<img src='/uploads/ros/original/2X/c/cdef5aacb57e452d4bbdc37dbea8369e67b03069.png'>

I want to build the green prism on the grey cylinder, the grey cylinder is attached to the positionner and can be turned around it's axis (X / red axis on the image).

What does it take to create a trajectory to build this part accounting that:
- The robot has 6 axis
- The part is on a 2 axis positioner (we would be using only 1 axis for the beginning)
- Moving the positioner is prioritised to minimize robot orientations changes

I'm not sure about how to do that, because the part can be moving.
In other words, I'm not sure if the path planning algorithm has to decide which orientation should the positioner take or if MoveIt has to determine the orientation of the positioner depending on the trajectory fed.

Any direction, idea, pointer would be appreciated!





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