Change TCP speed while move

dannyhef

Hey everybody,

I'm working right now on adaptive safety zones on a UR3. I figured out and programmed everything so that the robot changes its speed depending on position of human, directed speed of humam, directed speed of TCP. But unfortunately I couldn't find a way how to set the TCP speed while the robot executes a move command. I tried to work with the function interpolate_pose() to diskretize my path but with this function the robot slows down at every interpoint.
Does everybody know how to set the speed during a move?

Thanks,
Dan

bcastets

You can change the speed like you can do manually with the speed slider of the polyscope interface.

You can check this other post for details:
https://dof.robotiq.com/discussion/comment/2602#Comment_2602