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readJointConfiguration

Get current joint configuration from the robot

Since R2024a

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Syntax

jointangles = readJointConfiguration(ur)

Description

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

example

Examples

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

ur = urRTDEClient('172.19.98.176');

Get current joint configuration of the cobot.

jointangles = readJointConfiguration(ur);
jointAngles = 1×6    
    0.0001   -1.9552    1.6748   -2.5979   -0.0001    0.2542

Input Arguments

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

Output Arguments

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Current joint configuration, returned as a 1-by-6 vector of angles in radians.

Data Types: double

Version History

Introduced in R2024a

See Also