followTrajectory(ur,q,qd,qdd,trajtimes)
commands the Universal Robots cobot connected through ROS interface to follow the desired
set of joints for the trajectory, based on position, velocity, acceleration, and time
samples.
Connect to a physical or simulated cobot, using either urROSNode or
urROS2Node
object (based on the option for connectivity – ROS or ROS 2, which you selected in the
Hardware Setup screen).
Connect to a physical or simulated cobot at IP address
192.168.2.112 on the ROS network.
ur = urROSNode('192.168.2.112');
Connect to a physical or simulated cobot on the ROS 2 network.
ur = urROS2Node;
Command the cobot to by providing the desired joint waypoints and by specifying the
position, velocity, and acceleration for each waypoint segment, and the time samples for
the trajectory.
Connection to physical or simulated cobot from Universal Robots, specified as a
urROSNode object or a urROS2Node object.
q — Position of joint in the trajectory position matrix
Desired position of joints in the trajectory at a given time sample, represented as
a 6-by-N matrix, where N is the dimension of the trajectory.
Data Types: array
qd — Velocity of joint in the trajectory vector
Desired velocity of joints in the trajectory at a given time sample, represented as
a 6-by-N numeric vector, where N is the dimension of the trajectory.
Data Types: array
qdd — Velocity of joint in the trajectory vector
Desired acceleration of joints in the trajectory at a given time sample, represented
as a 6-by-N numeric vector, where N is the dimension of the trajectory.
Data Types: array
trajtimes — Time sample of the trajectory vector
Time sample of the trajectory at each joint, specified as a 1-by-N numeric vector,
specified in seconds.
Data Types: array
Extended Capabilities
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