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followCartesianWaypoints

Command robot to move along the desired Cartesian waypoints

Since R2024a

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Syntax

followCartesianWaypoints(ur, taskWaypoints)
followCartesianWaypoints(ur, taskWaypoints, Name=Value)

Description

followCartesianWaypoints(ur, taskWaypoints) commands the Universal Robots cobot connected through RTDE interface based on the specified Cartesian waypoints configuration.

example

followCartesianWaypoints(ur, taskWaypoints, Name=Value) commands the Universal Robots cobot connected through RTDE interface using name-value arguments in addition to the input arguments in the previous syntax. You can use the name-value arguments to set the time for each waypoint segment to reach the position, and the acceleration, velocity, and blend radius.

example

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 Cartesian waypoints. The followCartesianWaypoints function internally uses minjerkpolytraj to interpolate the path between two waypoints.

taskWaypoints = [-pi/2    0  -pi/2 0.5     0  0.5;
                 -pi/4    0  -pi/2 0.5   0.3  0.6;
                 -pi/2    0  -pi/2 0.5     0  0.8;
                 -3*pi/4  0  -pi/2 0.5  -0.3  0.6;
                 -pi/2    0  -pi/2 0.5     0  0.5];
waypointtimes = [0 2 4 6 8];
followCartesianWaypoints(ur,taskWayPoints,waypointTimes=waypointtimes);

Input Arguments

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

Desired Cartesian pose in the form of waypoints of the simulated cobot, represented as a N-by-6 numeric vector, in the form of [thetaz thetay thetax x y z]. The units are radians and seconds respectively for the three axes, for N waypoints.

Data Types: numeric

Name-Value Arguments

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: followCartesianWaypoints(ur,taskWaypoints,Acceleration=acceleration)

Absolute time (time from start) for each waypoint segment to complete the motion, represented as a 1-by-N numeric vector, specified as a double vector.

Example: followCartesianWaypoints(ur,taskWaypoints,waypointTimes=waypointtimes)

Data Types: double

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

Example: followCartesianWaypoints(ur,taskWaypoints,Acceleration=acceleration)

Data Types: double

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

Example: followCartesianWaypoints(ur,taskWaypoints,Velocity=velocity)

Data Types: double

Blend radius for waypoints to pass through, when the cobot does not need to stop, specified as a numeric scalar.

Example: followCartesianWaypoints(ur,taskWaypoints,BlendRadius=blendRadius)

Data Types: double

Version History

Introduced in R2024a

See Also