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Home > Programming > Shoulder and elbow joint cannot exceed 0.2rad/second when useing speedj
feng

Hi, 

When I use speedj, the shoulder and lebow joint speed can not exceed 0.2rad/second.

For example:

If give the followed command to the robot, it works well.
qd = [0, 0, 0.2, 0, 0, 0]
t_min = 5
a = 0.2
robot.speedj(qd, a, t_min)

While the followed command is given to the robot, the elbow joint will move at the speed of 0.205rad/second.
qd = [0, 0, 0.4, 0, 0, 0]
t_min = 4
a = 0.4
robot.speedj(qd, a, t_min)


Please help th find what happended.

Thanks a lot.
bcastets

What is your robot ? Did you checked the maximum joint speed of the robot ?