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 ?