Hello everybody,

is it possible to move UR in tool space with speedL command? I am trying to make an interface to move robot with xbox controller but it only works in base frame or by joints (speedJ). 
Also how do you make it to decelerate normaly, in my case when the input commands (speed..) stop comming robot tries to stop imediatly and it goes in protective stop.

Thank you very much!

you would have to give the command a pose in base coordinates that matches what the tool frame currently is and then get your velocity vector in that frame. Everything has to be reduced back to base coordinates. 

So i have to get my own transformation matrix in order to do that? Or is there something from UR that i could use?

If i understand correctly, the command speedL is as it is and can only be fed base frame coordinates. So i have to calculate from desired speed vector in the current TCP pose back to base frame? 

Do you have any advice how i achieve that?

Second part is clear for me! Thank you very much.

You can get the coordinate of a vector expressed in the base frame into a vector expressed in the TCP frame with the following script.

vector_Tcp_Frame=pose_trans(pose_inv(vector_Base_Frame), tcp_Base_Frame)

pose_trans is always confusing. I hope it is correct !

I tried like this. But it does not give me the result i wanted. 

with var_2 i was setting the speed vector in tool frame and then tried transforming it with pose_trans. (i tried with pose_inv and without it, still does not work).

Am i doing something fundamentaly wrong? 

I’ll be at a physical robot tomorrow and can take a look.

My formula is probably not the good one. I think another calculation is needed.