sendServoJCommands

Send Servoj commands

Since R2024a

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Syntax

sendServoJCommands(ur, jointConfig)
sendServoJCommands(ur, jointConfig, Name=Value)

Description

sendServoJCommands(ur, jointConfig) sends Servoj commands to control the joint positions of Universal Robots cobot through the RTDE interface based on the specified joint configuration.

example

sendServoJCommands(ur, jointConfig, Name=Value) specifies options using one or more name-value arguments in addition to the input arguments in previous syntaxes. You can use the name-value arguments to set the maximum duration, velocity, acceleration, look-ahead time, and parameter gain.

example

Examples

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Connect to a physical or simulated cobot by using the urRTDEClient object.

ur = urRTDEClient('172.19.98.176');
ur = 
  urRTDEClient with properties:

            CobotName: 'universalUR5e'
       URControllerIP: '172.19.98.176'
    ControllerVersion: '5.11.1.0'
        RTDEFrequency: 125
    ConnectionTimeOut: 10
        RigidBodyTree: [1×1 rigidBodyTree]

Send Servoj commands to control joint positions of the cobot by specifying maximum duration, velocity, acceleration, look-ahead time, and parameter gain.

jointWaypoints = [0.0,1.57,-1.57,0,0,3.14];  
sendServoJCommands(ur, jointWaypoints, EndTime=0.008, Acceleration=0.1, Velocity=0.1, LookAheadTime=0.1, PGain=300);

Input Arguments

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

Desired joint configuration of the physical or simulated cobot, specified as a 1-by-6 numeric vector in the range [-pi,pi].

Data Types: array

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: sendServoJCommands(ur, jointWaypoints, Acceleration=0.1)

Maximum duration (in seconds) by which the physical or simulated cobot must try to complete the motion to reach the desired joint position, specified as a numeric scalar.

Data Types: double

Acceleration (in rad/s2) to control trapezoidal speed profile of the trajectory, specified as a numeric scalar.

Example: sendServoJCommands(ur, jointWaypoints,Acceleration=1.2)

Note

If 'EndTime' is a non-zero value, 'Acceleration' is ignored because time takes precedence. To use 'Acceleration', set 'EndTime' to 0.

Velocity (in rad/s) to control trapezoidal speed profile of trajectory, specified as a numeric scalar.

Example: sendServoJCommands(ur, jointWaypoints,Velocity=1.0)

Note

If you specify 'EndTime' argument, the 'Velocity' argument value has no impact because the 'EndTime' argument has priority over the velocity and acceleration settings.

Look-ahead time (in seconds) for joint transition from current position to the next based on the current velocity, specified as a numeric scalar. This option is useful for error calculation and to smoothen the trajectory. A low value gives a fast reaction, and a high value prevents overshoot.

Example: sendServoJCommands(ur, jointWaypoints, Velocity=1, LookAheadTime=0.15)

Proportional gain to modify the magnitude of error between actual and desired positions, specified as a numeric scalar. The function uses this value to adjust the position of cobot. This value is similar to the proportional gain of a PID controller.

Example: sendServoJCommands(ur, jointWaypoints,PGain=500)

Version History

Introduced in R2024a

See Also