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I am working on a robotic arm.
The issue I'm working on right now is security.
My aim is to slow down the speed of the robotic arm if a human enters the environment while the robotic arm is moving.
The closer the human gets to the robotic arm, the more I want to slow down the robotic arm.

I used setMaxVelocityScalingFactor and setMaxAccelerationScalingFactor for this, but these can be used before execution.
The speed of the robotic arm should slow down during execution.
that is, I want to reduce the speed of the robotic arm when a human enters the environment while the robotic arm is moving.

Thank you so much

Originally posted by omeranar1 on ROS Answers with karma: 31 on 2023-06-27

Post score: 0


1 Answer 1


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I am not aware of any standard ros package that has the behavior you ask for. I think you need to write custom code to implement this. If you are using ros_control, I'd investigate adding this new behavior to the FollowJointTrajectory Action Server.

Originally posted by Mike Scheutzow with karma: 4903 on 2023-06-27

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by gvdhoorn on 2023-06-27:
The scaled_joint_trajectory_controller in UniversalRobots/Universal_Robots_ROS_scaled_controllers implements a version of the JointTrajectoryController which can dynamically update the 'rate' at which it executes trajectories. That could be something the OP could use.

Provided the "robotic arm" mentioned is ros_control compatible.

But: it's certainly not safety rated, so depending on the requirements would not be sufficient for a truly safe environment. Especially with humans close by.


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