readJointVelocity

Get current joint velocities from the robot

Since R2024a

Syntax

jointvelocity = readJointVelocity(ur)

Description

jointvelocity = readJointVelocity(ur) waits for the next joint state update from the Universal Robots cobot connected via RTDE interface, and returns current joint velocity.

Examples

Obtain Joint Velocities from Cobot

Connect to a physical or simulated cobot, using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');

Get current joint velocities of the cobot.

jointvelocity = readJointVelocity(ur)

jointVelocity = 1×6    
 0     0     0     0     0     0

Input Arguments

ur — Connection to Universal Robots cobot

object

Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Output Arguments

jointvelocity — Current joint velocities

double vector

Current joint velocities, returned as a 1-by-6 vector of angular velocity in rad/s (radians per second).

Data Types: double

Version History

Introduced in R2024a