sendJointConfiguration

Command robot to move to desired joint configuration

Since R2024a

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Syntax

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

Description

sendJointConfiguration(ur,jointConfig) commands the Universal Robots cobot connected through RTDE interface, based on the specified joint configuration.

sendJointConfiguration(ur,jointConfig,Name=Value) commands the Universal Robots cobot connected through RTDE interface, based on the specified joint configuration, and sets the maximum duration, velocity, and acceleration properties using one or more optional name-value arguments.

Examples

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

ur = urRTDEClient('172.19.98.176');

Command the cobot to by providing the desired joint configuration as input.

jointWaypoints = [20 -90 -70 -20 70 0]*pi/180;
sendJointConfiguration(ur,jointWaypoints);

Command the cobot to by providing the desired joint configuration and by specifying the optional parameters - duration, velocity, and acceleration.

jointWaypoints = [20 -90 -70 -20 70 0]*pi/180;
sendJointConfiguration(ur,jointWaypoints,EndTime=5,Acceleration=1.2,Velocity=1.0);

Input Arguments

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

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

Data Types: numeric

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: sendJointConfiguration(ur,jointWaypoints, Acceleration=1.2, Velocity=1.0)

Maximum duration (in seconds) by which the simulated cobot must try to complete the motion to reach the desired joint configuration, specified as a numeric scalar. In some cases, even with this argument specified, there is no guarantee that the cobot will reach the desired joint configuration. In such cases, use sendJointConfigurationAndWait instead.

Data Types: double

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

Example: sendJointConfiguration(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: sendJointConfiguration(ur,jointWaypoints, 'Velocity', 1.0);

Note

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

Version History

Introduced in R2024a

See Also

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