AnalyticalPlanCartesianMotion.plan_cartesian_motion

AnalyticalPlanCartesianMotion.plan_cartesian_motion(robot, waypoints, start_configuration=None, group=None, options=None)

Calculates a cartesian motion path (linear in tool space).

Parameters:

robotcompas_fab.robots.Robot

The robot instance for which the cartesian motion path is being calculated.

waypointscompas_fab.robots.Waypoints

The waypoints for the robot to follow.

start_configurationcompas_robots.Configuration, optional

The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.

groupstr, optional

The planning group used for calculation.

optionsdict, optional

Dictionary containing the key-value pairs that are passed to compas_fab.robots.Robot.iter_inverse_kinematics()

Returns:

compas_fab.robots.JointTrajectory

The calculated trajectory.

Notes

This will only work with robots that have 6 revolute joints.