Home Programming

Discussion

Left ArrowBack to discussions page
tytytyty Posts: 14 Apprentice
Currently, I'm trying to control the position as well as the velocity of the UR. I have recorded a path as the desire path and try to repeat the path by my controller. My question is:
1) If use MoveL, the velocity should be a single value. However, according to my recorded data, the velocity is a 6*1 vector. How to set the velocity for MoveL?
2) Since MoveL cannot guarantee a smooth movement, I'm also trying to use servoL and speedL. Seems servoL cannot control velocity. By using speedL, if I introduce the recorded velocity, can I repeat the desire path? I'm still struggling with programming with speedL, but doubt it as there is no position information introduced with this command.

Thanks in advance.

Best Answer

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,249 Handy
    Accepted Answer
    if you have the velocity trajectory at each time slice, feeding that back into a speedL command should give you the motion that you recorded since the speedL takes a vector as its parameter which has both velocity and direction in it.  I would give it a try, set the speed slider down before you try so that if it does not give you the desired behavior you are running slower than commanded

Comments

Sign In or Register to comment.
Left ArrowBack to discussions page