rep-I0003¶

REP for defining Cartesian paths. This is intended to be an interface for a Cartesian path planner, rather than a path execution.

Upstream URL: https://github.com/ros-industrial/rep/blob/master/rep-I0003.rst

Feature list¶

Contains industrial primitives such as linear, circular, etc.)

Uses a segment representation

Features required from hardware / driver¶

Control interface

Cartesian motion primitives

Message definition¶

[CartesianPath]
waypoint[N]
  constraints[K]
    ??
    ref frame
    tcp frame
    process parameters[]
segment[N-1]
  type (linear, joint, circular)
  acceleration
  velocity